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.

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.

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.

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.

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.

Sensorless position estimator applied to nonlinear IPMC model

NASA Astrophysics Data System (ADS)

Bernat, Jakub; Kolota, Jakub

2016-11-01

This paper addresses the issue of estimating position for an ionic polymer metal composite (IPMC) known as electro active polymer (EAP). The key step is the construction of a sensorless mode considering only current feedback. This work takes into account nonlinearities caused by electrochemical effects in the material. Owing to the recent observer design technique, the authors obtained both Lyapunov function based estimation law as well as sliding mode observer. To accomplish the observer design, the IPMC model was identified through a series of experiments. The research comprises time domain measurements. The identification process was completed by means of geometric scaling of three test samples. In the proposed design, the estimated position accurately tracks the polymer position, which is illustrated by the experiments.

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.

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.

Estimation of position and velocity for a low dynamic vehicle in near space using nonresolved photometric and astrometric data.

PubMed

Jing, Nan; Li, Chuang; Chong, Yaqin

2017-01-20

An estimation method for indirectly observable parameters for a typical low dynamic vehicle (LDV) is presented. The estimation method utilizes apparent magnitude, azimuth angle, and elevation angle to estimate the position and velocity of a typical LDV, such as a high altitude balloon (HAB). In order to validate the accuracy of the estimated parameters gained from an unscented Kalman filter, two sets of experiments are carried out to obtain the nonresolved photometric and astrometric data. In the experiments, a HAB launch is planned; models of the HAB dynamics and kinematics and observation models are built to use as time update and measurement update functions, respectively. When the HAB is launched, a ground-based optoelectronic detector is used to capture the object images, which are processed using aperture photometry technology to obtain the time-varying apparent magnitude of the HAB. Two sets of actual and estimated parameters are given to clearly indicate the parameter differences. Two sets of errors between the actual and estimated parameters are also given to show how the estimated position and velocity differ with respect to the observation time. The similar distribution curve results from the two scenarios, which agree within 3σ, verify that nonresolved photometric and astrometric data can be used to estimate the indirectly observable state parameters (position and velocity) for a typical LDV. This technique can be applied to small and dim space objects in the future.

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

Predictive coding of visual object position ahead of moving objects revealed by time-resolved EEG decoding.

PubMed

Hogendoorn, Hinze; Burkitt, Anthony N

2018-05-01

Due to the delays inherent in neuronal transmission, our awareness of sensory events necessarily lags behind the occurrence of those events in the world. If the visual system did not compensate for these delays, we would consistently mislocalize moving objects behind their actual position. Anticipatory mechanisms that might compensate for these delays have been reported in animals, and such mechanisms have also been hypothesized to underlie perceptual effects in humans such as the Flash-Lag Effect. However, to date no direct physiological evidence for anticipatory mechanisms has been found in humans. Here, we apply multivariate pattern classification to time-resolved EEG data to investigate anticipatory coding of object position in humans. By comparing the time-course of neural position representation for objects in both random and predictable apparent motion, we isolated anticipatory mechanisms that could compensate for neural delays when motion trajectories were predictable. As well as revealing an early neural position representation (lag 80-90 ms) that was unaffected by the predictability of the object's trajectory, we demonstrate a second neural position representation at 140-150 ms that was distinct from the first, and that was pre-activated ahead of the moving object when it moved on a predictable trajectory. The latency advantage for predictable motion was approximately 16 ± 2 ms. To our knowledge, this provides the first direct experimental neurophysiological evidence of anticipatory coding in human vision, revealing the time-course of predictive mechanisms without using a spatial proxy for time. The results are numerically consistent with earlier animal work, and suggest that current models of spatial predictive coding in visual cortex can be effectively extended into the temporal domain. Copyright © 2018 Elsevier Inc. All rights reserved.

Vision-Based Position Estimation Utilizing an Extended Kalman Filter

DTIC Science & Technology

2016-12-01

POSITION ESTIMATION UTILIZING AN EXTENDED KALMAN FILTER by Joseph B. Testa III December 2016 Thesis Advisor: Vladimir Dobrokhodov Co...TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE VISION-BASED POSITION ESTIMATION UTILIZING AN EXTENDED KALMAN FILTER 5. FUNDING...spots” and network relay between the boarding team and ship. 14. SUBJECT TERMS UAV, ROS, extended Kalman filter , Matlab

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

Sustained attention to objects' motion sharpens position representations: Attention to changing position and attention to motion are distinct.

PubMed

Howard, Christina J; Rollings, Victoria; Hardie, Amy

2017-06-01

In tasks where people monitor moving objects, such the multiple object tracking task (MOT), observers attempt to keep track of targets as they move amongst distracters. The literature is mixed as to whether observers make use of motion information to facilitate performance. We sought to address this by two means: first by superimposing arrows on objects which varied in their informativeness about motion direction and second by asking observers to attend to motion direction. Using a position monitoring task, we calculated mean error magnitudes as a measure of the precision with which target positions are represented. We also calculated perceptual lags versus extrapolated reports, which are the times at which positions of targets best match position reports. We find that the presence of motion information in the form of superimposed arrows made no difference to position report precision nor perceptual lag. However, when we explicitly instructed observers to attend to motion, we saw facilitatory effects on position reports and in some cases reports that best matched extrapolated rather than lagging positions for small set sizes. The results indicate that attention to changing positions does not automatically recruit attention to motion, showing a dissociation between sustained attention to changing positions and attention to motion. Copyright © 2017 Elsevier Ltd. All rights reserved.

Position estimation of transceivers in communication networks

DOEpatents

Kent, Claudia A [Pleasanton, CA; Dowla, Farid [Castro Valley, CA

2008-06-03

This invention provides a system and method using wireless communication interfaces coupled with statistical processing of time-of-flight data to locate by position estimation unknown wireless receivers. Such an invention can be applied in sensor network applications, such as environmental monitoring of water in the soil or chemicals in the air where the position of the network nodes is deemed critical. Moreover, the present invention can be arranged to operate in areas where a Global Positioning System (GPS) is not available, such as inside buildings, caves, and tunnels.

Games With Estimation of Non-Damage Objectives

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

Canavan, G.H.

1998-09-14

Games against nature illustrate the role of non-damage objectives in producing conflict with uncertain rewards and the role of probing and estimation in reducing that uncertainty and restoring optimal strategies. This note discusses two essential elements of the analysis of crisis stability omitted from current treatments based on first strike stability: the role of an objective that motivates conflicts sufficiently serious to lead to conflicts, and the process of sequential interactions that could cause those conflicts to deepen. Games against nature illustrate role of objectives and uncertainty that are at the core of detailed treatments of crisis stability. These modelsmore » can also illustrate how these games processes can generate and deepen crises and the optimal strategies that might be used to end them. This note discusses two essential elements of the analysis of crisis stability that are omitted from current treatments based on first strike stability: anon-damage objective that motivates conflicts sufficiently serious to lead to conflicts, and the process of sequential tests that could cause those conflicts to deepen. The model used is a game against nature, simplified sufficiently to make the role of each of those elements obvious.« less

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

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.

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.

Neural mechanisms of limb position estimation in the primate brain.

PubMed

Shi, Ying; Buneo, Christopher A

2011-01-01

Understanding the neural mechanisms of limb position estimation is important both for comprehending the neural control of goal directed arm movements and for developing neuroprosthetic systems designed to replace lost limb function. Here we examined the role of area 5 of the posterior parietal cortex in estimating limb position based on visual and somatic (proprioceptive, efference copy) signals. Single unit recordings were obtained as monkeys reached to visual targets presented in a semi-immersive virtual reality environment. On half of the trials animals were required to maintain their limb position at these targets while receiving both visual and non-visual feedback of their arm position, while on the other trials visual feedback was withheld. When examined individually, many area 5 neurons were tuned to the position of the limb in the workspace but very few neurons modulated their firing rates based on the presence/absence of visual feedback. At the population level however decoding of limb position was somewhat more accurate when visual feedback was provided. These findings support a role for area 5 in limb position estimation but also suggest that visual signals regarding limb position are only weakly represented in this area, and only at the population level.

Remediating Non-Positive Definite State Covariances for Collision Probability Estimation

NASA Technical Reports Server (NTRS)

Hall, Doyle T.; Hejduk, Matthew D.; Johnson, Lauren C.

2017-01-01

The NASA Conjunction Assessment Risk Analysis team estimates the probability of collision (Pc) for a set of Earth-orbiting satellites. The Pc estimation software processes satellite position+velocity states and their associated covariance matri-ces. On occasion, the software encounters non-positive definite (NPD) state co-variances, which can adversely affect or prevent the Pc estimation process. Inter-polation inaccuracies appear to account for the majority of such covariances, alt-hough other mechanisms contribute also. This paper investigates the origin of NPD state covariance matrices, three different methods for remediating these co-variances when and if necessary, and the associated effects on the Pc estimation process.

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.

Adaptive object tracking via both positive and negative models matching

NASA Astrophysics Data System (ADS)

Li, Shaomei; Gao, Chao; Wang, Yawen

2015-03-01

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

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

Accurate position estimation methods based on electrical impedance tomography measurements

NASA Astrophysics Data System (ADS)

Vergara, Samuel; Sbarbaro, Daniel; Johansen, T. A.

2017-08-01

Electrical impedance tomography (EIT) is a technology that estimates the electrical properties of a body or a cross section. Its main advantages are its non-invasiveness, low cost and operation free of radiation. The estimation of the conductivity field leads to low resolution images compared with other technologies, and high computational cost. However, in many applications the target information lies in a low intrinsic dimensionality of the conductivity field. The estimation of this low-dimensional information is addressed in this work. It proposes optimization-based and data-driven approaches for estimating this low-dimensional information. The accuracy of the results obtained with these approaches depends on modelling and experimental conditions. Optimization approaches are sensitive to model discretization, type of cost function and searching algorithms. Data-driven methods are sensitive to the assumed model structure and the data set used for parameter estimation. The system configuration and experimental conditions, such as number of electrodes and signal-to-noise ratio (SNR), also have an impact on the results. In order to illustrate the effects of all these factors, the position estimation of a circular anomaly is addressed. Optimization methods based on weighted error cost functions and derivate-free optimization algorithms provided the best results. Data-driven approaches based on linear models provided, in this case, good estimates, but the use of nonlinear models enhanced the estimation accuracy. The results obtained by optimization-based algorithms were less sensitive to experimental conditions, such as number of electrodes and SNR, than data-driven approaches. Position estimation mean squared errors for simulation and experimental conditions were more than twice for the optimization-based approaches compared with the data-driven ones. The experimental position estimation mean squared error of the data-driven models using a 16-electrode setup was less

Does conspicuity enhance distraction? Saliency and eye landing position when searching for objects.

PubMed

Foulsham, Tom; Underwood, Geoffrey

2009-06-01

While visual saliency may sometimes capture attention, the guidance of eye movements in search is often dominated by knowledge of the target. How is the search for an object influenced by the saliency of an adjacent distractor? Participants searched for a target amongst an array of objects, with distractor saliency having an effect on response time and on the speed at which targets were found. Saliency did not predict the order in which objects in target-absent trials were fixated. The within-target landing position was distributed around a modal position close to the centre of the object. Saliency did not affect this position, the latency of the initial saccade, or the likelihood of the distractor being fixated, suggesting that saliency affects the allocation of covert attention and not just eye movements.

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

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.

Position Estimation Method of Medical Implanted Devices Using Estimation of Propagation Velocity inside Human Body

NASA Astrophysics Data System (ADS)

Kawasaki, Makoto; Kohno, Ryuji

Wireless communication devices in the field of medical implant, such as cardiac pacemakers and capsule endoscopes, have been studied and developed to improve healthcare systems. Especially it is very important to know the range and position of each device because it will contribute to an optimization of the transmission power. We adopt the time-based approach of position estimation using ultra wideband signals. However, the propagation velocity inside the human body differs in each tissue and each frequency. Furthermore, the human body is formed of various tissues with complex structures. For this reason, propagation velocity is different at a different point inside human body and the received signal so distorted through the channel inside human body. In this paper, we apply an adaptive template synthesis method in multipath channel for calculate the propagation time accurately based on the output of the correlator between the transmitter and the receiver. Furthermore, we propose a position estimation method using an estimation of the propagation velocity inside the human body. In addition, we show by computer simulation that the proposal method can perform accurate positioning with a size of medical implanted devices such as a medicine capsule.

Motion streaks do not influence the perceived position of stationary flashed objects.

PubMed

Pavan, Andrea; Bellacosa Marotti, Rosilari

2012-01-01

In the present study, we investigated whether motion streaks, produced by fast moving dots Geisler 1999, distort the positional map of stationary flashed objects producing the well-known motion-induced position shift illusion (MIPS). The illusion relies on motion-processing mechanisms that induce local distortions in the positional map of the stimulus which is derived by shape-processing mechanisms. To measure the MIPS, two horizontally offset Gaussian blobs, placed above and below a central fixation point, were flashed over two fields of dots moving in opposite directions. Subjects judged the position of the top Gaussian blob relative to the bottom one. The results showed that neither fast (motion streaks) nor slow moving dots influenced the perceived spatial position of the stationary flashed objects, suggesting that background motion does not interact with the shape-processing mechanisms involved in MIPS.

Experimental verification of an interpolation algorithm for improved estimates of animal position

NASA Astrophysics Data System (ADS)

Schell, Chad; Jaffe, Jules S.

2004-07-01

This article presents experimental verification of an interpolation algorithm that was previously proposed in Jaffe [J. Acoust. Soc. Am. 105, 3168-3175 (1999)]. The goal of the algorithm is to improve estimates of both target position and target strength by minimizing a least-squares residual between noise-corrupted target measurement data and the output of a model of the sonar's amplitude response to a target at a set of known locations. Although this positional estimator was shown to be a maximum likelihood estimator, in principle, experimental verification was desired because of interest in understanding its true performance. Here, the accuracy of the algorithm is investigated by analyzing the correspondence between a target's true position and the algorithm's estimate. True target position was measured by precise translation of a small test target (bead) or from the analysis of images of fish from a coregistered optical imaging system. Results with the stationary spherical test bead in a high signal-to-noise environment indicate that a large increase in resolution is possible, while results with commercial aquarium fish indicate a smaller increase is obtainable. However, in both experiments the algorithm provides improved estimates of target position over those obtained by simply accepting the angular positions of the sonar beam with maximum output as target position. In addition, increased accuracy in target strength estimation is possible by considering the effects of the sonar beam patterns relative to the interpolated position. A benefit of the algorithm is that it can be applied ``ex post facto'' to existing data sets from commercial multibeam sonar systems when only the beam intensities have been stored after suitable calibration.

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…

Estimation of contour motion and deformation for nonrigid object tracking

NASA Astrophysics Data System (ADS)

Shao, Jie; Porikli, Fatih; Chellappa, Rama

2007-08-01

We present an algorithm for nonrigid contour tracking in heavily cluttered background scenes. Based on the properties of nonrigid contour movements, a sequential framework for estimating contour motion and deformation is proposed. We solve the nonrigid contour tracking problem by decomposing it into three subproblems: motion estimation, deformation estimation, and shape regulation. First, we employ a particle filter to estimate the global motion parameters of the affine transform between successive frames. Then we generate a probabilistic deformation map to deform the contour. To improve robustness, multiple cues are used for deformation probability estimation. Finally, we use a shape prior model to constrain the deformed contour. This enables us to retrieve the occluded parts of the contours and accurately track them while allowing shape changes specific to the given object types. Our experiments show that the proposed algorithm significantly improves the tracker performance.

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…

Using Visual Odometry to Estimate Position and Attitude

NASA Technical Reports Server (NTRS)

Maimone, Mark; Cheng, Yang; Matthies, Larry; Schoppers, Marcel; Olson, Clark

2007-01-01

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

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.

Space Object Classification and Characterization Via Multiple Model Adaptive Estimation

DTIC Science & Technology

2014-07-14

BRDF ) which models light distribution scattered from the surface due to the incident light. The BRDF at any point on the surface is a function of two...uu B vu B nu obs I u sun I u I hu (b) Reflection Geometry Fig. 2: Reflection Geometry and Space Object Shape Model of the BRDF is ρdiff(i...Space Object Classification and Characterization Via Multiple Model Adaptive Estimation Richard Linares Director’s Postdoctoral Fellow Space Science

Sexual Orientation and Spatial Position Effects on Selective Forms of Object Location Memory

ERIC Educational Resources Information Center

Rahman, Qazi; Newland, Cherie; Smyth, Beatrice Mary

2011-01-01

Prior research has demonstrated robust sex and sexual orientation-related differences in object location memory in humans. Here we show that this sexual variation may depend on the spatial position of target objects and the task-specific nature of the spatial array. We tested the recovery of object locations in three object arrays (object…

Sexual orientation and spatial position effects on selective forms of object location memory.

PubMed

Rahman, Qazi; Newland, Cherie; Smyth, Beatrice Mary

2011-04-01

Prior research has demonstrated robust sex and sexual orientation-related differences in object location memory in humans. Here we show that this sexual variation may depend on the spatial position of target objects and the task-specific nature of the spatial array. We tested the recovery of object locations in three object arrays (object exchanges, object shifts, and novel objects) relative to veridical center (left compared to right side of the arrays) in a sample of 35 heterosexual men, 35 heterosexual women, and 35 homosexual men. Relative to heterosexual men, heterosexual women showed better location recovery in the right side of the array during object exchanges and homosexual men performed better in the right side during novel objects. However, the difference between heterosexual and homosexual men disappeared after controlling for IQ. Heterosexual women and homosexual men did not differ significantly from each other in location change detection with respect to task or side of array. These data suggest that visual space biases in processing categorical spatial positions may enhance aspects of object location memory in heterosexual women. Copyright © 2010 Elsevier Inc. All rights reserved.

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

Position Estimation for Switched Reluctance Motor Based on the Single Threshold Angle

NASA Astrophysics Data System (ADS)

Zhang, Lei; Li, Pang; Yu, Yue

2017-05-01

This paper presents a position estimate model of switched reluctance motor based on the single threshold angle. In view of the relationship of between the inductance and rotor position, the position is estimated by comparing the real-time dynamic flux linkage with the threshold angle position flux linkage (7.5° threshold angle, 12/8SRM). The sensorless model is built by Maltab/Simulink, the simulation are implemented under the steady state and transient state different condition, and verified its validity and feasibility of the method..

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 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.

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

NASA Technical Reports Server (NTRS)

Davis, Larry S.; Dementhon, Daniel; Bestul, Thor; Ziavras, Sotirios; Srinivasan, H. V.; Siddalingaiah, Madhu; Harwood, David

1989-01-01

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

A novel method for interactive multi-objective dose-guided patient positioning

NASA Astrophysics Data System (ADS)

Haehnle, Jonas; Süss, Philipp; Landry, Guillaume; Teichert, Katrin; Hille, Lucas; Hofmaier, Jan; Nowak, Dimitri; Kamp, Florian; Reiner, Michael; Thieke, Christian; Ganswindt, Ute; Belka, Claus; Parodi, Katia; Küfer, Karl-Heinz; Kurz, Christopher

2017-01-01

In intensity-modulated radiation therapy (IMRT), 3D in-room imaging data is typically utilized for accurate patient alignment on the basis of anatomical landmarks. In the presence of non-rigid anatomical changes, it is often not obvious which patient position is most suitable. Thus, dose-guided patient alignment is an interesting approach to use available in-room imaging data for up-to-date dose calculation, aimed at finding the position that yields the optimal dose distribution. This contribution presents the first implementation of dose-guided patient alignment as multi-criteria optimization problem. User-defined clinical objectives are employed for setting up a multi-objective problem. Using pre-calculated dose distributions at a limited number of patient shifts and dose interpolation, a continuous space of Pareto-efficient patient shifts becomes accessible. Pareto sliders facilitate interactive browsing of the possible shifts with real-time dose display to the user. Dose interpolation accuracy is validated and the potential of multi-objective dose-guided positioning demonstrated for three head and neck (H&N) and three prostate cancer patients. Dose-guided positioning is compared to replanning for all cases. A delineated replanning CT served as surrogate for in-room imaging data. Dose interpolation accuracy was high. Using a 2 % dose difference criterion, a median pass-rate of 95.7% for H&N and 99.6% for prostate cases was determined in a comparison to exact dose calculations. For all patients, dose-guided positioning allowed to find a clinically preferable dose distribution compared to bony anatomy based alignment. For all H&N cases, mean dose to the spared parotid glands was below 26~\\text{Gy} (up to 27.5~\\text{Gy} with bony alignment) and clinical target volume (CTV) {{V}95 % } above 99.1% (compared to 95.1%). For all prostate patients, CTV {{V}95 % } was above 98.9% (compared to 88.5%) and {{V}50~\\text{Gy}} to the rectum below 50 % (compared to 56

Estimating Position of Mobile Robots From Omnidirectional Vision Using an Adaptive Algorithm.

PubMed

Li, Luyang; Liu, Yun-Hui; Wang, Kai; Fang, Mu

2015-08-01

This paper presents a novel and simple adaptive algorithm for estimating the position of a mobile robot with high accuracy in an unknown and unstructured environment by fusing images of an omnidirectional vision system with measurements of odometry and inertial sensors. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the positions of the robot and natural feature points, we propose a novel adaptive algorithm, which is similar to the Slotine-Li algorithm in model-based adaptive control, to estimate the robot's position by using the tracked feature points in image sequence, the robot's velocity, and orientation angles measured by odometry and inertial sensors. It is proved that the adaptive algorithm leads to global exponential convergence of the position estimation errors to zero. Simulations and real-world experiments are performed to demonstrate the performance of the proposed algorithm.

Relationship between parental estimate and an objective measure of child television watching

PubMed Central

Robinson, Jodie L; Winiewicz, Dana D; Fuerch, Janene H; Roemmich, James N; Epstein, Leonard H

2006-01-01

Many young children have televisions in their bedrooms, which may influence the relationship between parental estimate and objective measures of child television usage/week. Parental estimates of child television time of eighty 4–7 year old children (6.0 ± 1.2 years) at the 75th BMI percentile or greater (90.8 ± 6.8 BMI percentile) were compared to an objective measure of television time obtained from TV Allowance™ devices attached to every television in the home over a three week period. Results showed that parents overestimate their child's television time compared to an objective measure when no television is present in the bedroom by 4 hours/week (25.4 ± 11.5 vs. 21.4 ± 9.1) in comparison to underestimating television time by over 3 hours/week (26.5 ± 17.2 vs. 29.8 ± 14.4) when the child has a television in their bedroom (p = 0.02). Children with a television in their bedroom spend more objectively measured hours in television time than children without a television in their bedroom (29.8 ± 14.2 versus 21.4 ± 9.1, p = 0.003). Research on child television watching should take into account television watching in bedrooms, since it may not be adequately assessed by parental estimates. PMID:17129381

Estimating effective data density in a satellite retrieval or an objective analysis

NASA Technical Reports Server (NTRS)

Purser, R. J.; Huang, H.-L.

1993-01-01

An attempt is made to formulate consistent objective definitions of the concept of 'effective data density' applicable both in the context of satellite soundings and more generally in objective data analysis. The definitions based upon various forms of Backus-Gilbert 'spread' functions are found to be seriously misleading in satellite soundings where the model resolution function (expressing the sensitivity of retrieval or analysis to changes in the background error) features sidelobes. Instead, estimates derived by smoothing the trace components of the model resolution function are proposed. The new estimates are found to be more reliable and informative in simulated satellite retrieval problems and, for the special case of uniformly spaced perfect observations, agree exactly with their actual density. The new estimates integrate to the 'degrees of freedom for signal', a diagnostic that is invariant to changes of units or coordinates used.

Numerical Estimation in Children for Both Positive and Negative Numbers

ERIC Educational Resources Information Center

Brez, Caitlin C.; Miller, Angela D.; Ramirez, Erin M.

2016-01-01

Numerical estimation has been used to study how children mentally represent numbers for many years (e.g., Siegler & Opfer, 2003). However, these studies have always presented children with positive numbers and positive number lines. Children's mental representation of negative numbers has never been addressed. The present study tested children…

Hidden marker position estimation during sit-to-stand with walker.

PubMed

Yoon, Sang Ho; Jun, Hong Gul; Dan, Byung Ju; Jo, Byeong Rim; Min, Byung Hoon

2012-01-01

Motion capture analysis of sit-to-stand task with assistive device is hard to achieve due to obstruction on reflective makers. Previously developed robotic system, Smart Mobile Walker, is used as an assistive device to perform motion capture analysis in sit-to-stand task. All lower limb markers except hip markers are invisible through whole session. The link-segment and regression method is applied to estimate the marker position during sit-to-stand. Applying a new method, the lost marker positions are restored and the biomechanical evaluation of the sit-to-stand movement with a Smart Mobile Walker could be carried out. The accuracy of the marker position estimation is verified with normal sit-to-stand data from more than 30 clinical trials. Moreover, further research on improving the link segment and regression method is addressed.

Estimating uncertainty in subsurface glider position using transmissions from fixed acoustic tomography sources.

PubMed

Van Uffelen, Lora J; Nosal, Eva-Marie; Howe, Bruce M; Carter, Glenn S; Worcester, Peter F; Dzieciuch, Matthew A; Heaney, Kevin D; Campbell, Richard L; Cross, Patrick S

2013-10-01

Four acoustic Seagliders were deployed in the Philippine Sea November 2010 to April 2011 in the vicinity of an acoustic tomography array. The gliders recorded over 2000 broadband transmissions at ranges up to 700 km from moored acoustic sources as they transited between mooring sites. The precision of glider positioning at the time of acoustic reception is important to resolve the fundamental ambiguity between position and sound speed. The Seagliders utilized GPS at the surface and a kinematic model below for positioning. The gliders were typically underwater for about 6.4 h, diving to depths of 1000 m and traveling on average 3.6 km during a dive. Measured acoustic arrival peaks were unambiguously associated with predicted ray arrivals. Statistics of travel-time offsets between received arrivals and acoustic predictions were used to estimate range uncertainty. Range (travel time) uncertainty between the source and the glider position from the kinematic model is estimated to be 639 m (426 ms) rms. Least-squares solutions for glider position estimated from acoustically derived ranges from 5 sources differed by 914 m rms from modeled positions, with estimated uncertainty of 106 m rms in horizontal position. Error analysis included 70 ms rms of uncertainty due to oceanic sound-speed variability.

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

Improved Estimation of Orbits and Physical Properties of Objects in GEO

NASA Astrophysics Data System (ADS)

Bradley, B.; Axelrad, P.

2013-09-01

Orbital debris is a major concern for satellite operators, both commercial and military. Debris in the geosynchronous (GEO) belt is of particular concern because this unique region is such a valuable, limited resource, and, from the ground we cannot reliably track and characterize GEO objects smaller than 1 meter in diameter. Space-based space surveillance (SBSS) is required to observe GEO objects without weather restriction and with improved viewing geometry. SBSS satellites have thus far been placed in Sun-synchronous orbits. This paper investigates the benefits to GEO orbit determination (including the estimation of mass, area, and shape) that arises from placing observing satellites in geosynchronous transfer orbit (GTO) and a sub-GEO orbit. Recently, several papers have reported on simulation studies to estimate orbits and physical properties; however, these studies use simulated objects and ground-based measurements, often with dense and long data arcs. While this type of simulation provides valuable insight into what is possible, as far as state estimation goes, it is not a very realistic observing scenario and thus may not yield meaningful accuracies. Our research improves upon simulations published to date by utilizing publicly available ephemerides for the WAAS satellites (Anik F1R and Galaxy 15), accurate at the meter level. By simulating and deliberately degrading right ascension and declination observations, consistent with these ephemerides, a realistic assessment of the achievable orbit determination accuracy using GTO and sub-GEO SBSS platforms is performed. Our results show that orbit accuracy is significantly improved as compared to a Sun-synchronous platform. Physical property estimation is also performed using simulated astrometric and photometric data taken from GTO and sub-GEO sensors. Simulations of SBSS-only as well as combined SBSS and ground-based observation tracks are used to study the improvement in area, mass, and shape estimation

An Object-oriented Computer Code for Aircraft Engine Weight Estimation

NASA Technical Reports Server (NTRS)

Tong, Michael T.; Naylor, Bret A.

2008-01-01

Reliable engine-weight estimation at the conceptual design stage is critical to the development of new aircraft engines. It helps to identify the best engine concept amongst several candidates. At NASA Glenn (GRC), the Weight Analysis of Turbine Engines (WATE) computer code, originally developed by Boeing Aircraft, has been used to estimate the engine weight of various conceptual engine designs. The code, written in FORTRAN, was originally developed for NASA in 1979. Since then, substantial improvements have been made to the code to improve the weight calculations for most of the engine components. Most recently, to improve the maintainability and extensibility of WATE, the FORTRAN code has been converted into an object-oriented version. The conversion was done within the NASA s NPSS (Numerical Propulsion System Simulation) framework. This enables WATE to interact seamlessly with the thermodynamic cycle model which provides component flow data such as airflows, temperatures, and pressures, etc. that are required for sizing the components and weight calculations. The tighter integration between the NPSS and WATE would greatly enhance system-level analysis and optimization capabilities. It also would facilitate the enhancement of the WATE code for next-generation aircraft and space propulsion systems. In this paper, the architecture of the object-oriented WATE code (or WATE++) is described. Both the FORTRAN and object-oriented versions of the code are employed to compute the dimensions and weight of a 300- passenger aircraft engine (GE90 class). Both versions of the code produce essentially identical results as should be the case. Keywords: NASA, aircraft engine, weight, object-oriented

An approach for filtering hyperbolically positioned underwater acoustic telemetry data with position precision estimates

USGS Publications Warehouse

Meckley, Trevor D.; Holbrook, Christopher M.; Wagner, C. Michael; Binder, Thomas R.

2014-01-01

The use of position precision estimates that reflect the confidence in the positioning process should be considered prior to the use of biological filters that rely on a priori expectations of the subject’s movement capacities and tendencies. Position confidence goals should be determined based upon the needs of the research questions and analysis requirements versus arbitrary selection, in which filters of previous studies are adopted. Data filtering with this approach ensures that data quality is sufficient for the selected analyses and presents the opportunity to adjust or identify a different analysis in the event that the requisite precision was not attained. Ignoring these steps puts a practitioner at risk of reporting errant findings.

Estimation of positive semidefinite correlation matrices by using convex quadratic semidefinite programming.

PubMed

Fushiki, Tadayoshi

2009-07-01

The correlation matrix is a fundamental statistic that is used in many fields. For example, GroupLens, a collaborative filtering system, uses the correlation between users for predictive purposes. Since the correlation is a natural similarity measure between users, the correlation matrix may be used in the Gram matrix in kernel methods. However, the estimated correlation matrix sometimes has a serious defect: although the correlation matrix is originally positive semidefinite, the estimated one may not be positive semidefinite when not all ratings are observed. To obtain a positive semidefinite correlation matrix, the nearest correlation matrix problem has recently been studied in the fields of numerical analysis and optimization. However, statistical properties are not explicitly used in such studies. To obtain a positive semidefinite correlation matrix, we assume the approximate model. By using the model, an estimate is obtained as the optimal point of an optimization problem formulated with information on the variances of the estimated correlation coefficients. The problem is solved by a convex quadratic semidefinite program. A penalized likelihood approach is also examined. The MovieLens data set is used to test our approach.

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.

A fast and objective multidimensional kernel density estimation method: fastKDE

DOE PAGES

O'Brien, Travis A.; Kashinath, Karthik; Cavanaugh, Nicholas R.; ...

2016-03-07

Numerous facets of scientific research implicitly or explicitly call for the estimation of probability densities. Histograms and kernel density estimates (KDEs) are two commonly used techniques for estimating such information, with the KDE generally providing a higher fidelity representation of the probability density function (PDF). Both methods require specification of either a bin width or a kernel bandwidth. While techniques exist for choosing the kernel bandwidth optimally and objectively, they are computationally intensive, since they require repeated calculation of the KDE. A solution for objectively and optimally choosing both the kernel shape and width has recently been developed by Bernacchiamore » and Pigolotti (2011). While this solution theoretically applies to multidimensional KDEs, it has not been clear how to practically do so. A method for practically extending the Bernacchia-Pigolotti KDE to multidimensions is introduced. This multidimensional extension is combined with a recently-developed computational improvement to their method that makes it computationally efficient: a 2D KDE on 10 5 samples only takes 1 s on a modern workstation. This fast and objective KDE method, called the fastKDE method, retains the excellent statistical convergence properties that have been demonstrated for univariate samples. The fastKDE method exhibits statistical accuracy that is comparable to state-of-the-science KDE methods publicly available in R, and it produces kernel density estimates several orders of magnitude faster. The fastKDE method does an excellent job of encoding covariance information for bivariate samples. This property allows for direct calculation of conditional PDFs with fastKDE. It is demonstrated how this capability might be leveraged for detecting non-trivial relationships between quantities in physical systems, such as transitional behavior.« less

The effect of aborting ongoing movements on end point position estimation.

PubMed

Itaguchi, Yoshihiro; Fukuzawa, Kazuyoshi

2013-11-01

The present study investigated the impact of motor commands to abort ongoing movement on position estimation. Participants carried out visually guided reaching movements on a horizontal plane with their eyes open. By setting a mirror above their arm, however, they could not see the arm, only the start and target points. They estimated the position of their fingertip based solely on proprioception after their reaching movement was stopped before reaching the target. The participants stopped reaching as soon as they heard an auditory cue or were mechanically prevented from moving any further by an obstacle in their path. These reaching movements were carried out at two different speeds (fast or slow). It was assumed that additional motor commands to abort ongoing movement were required and that their magnitude was high, low, and zero, in the auditory-fast condition, the auditory-slow condition, and both the obstacle conditions, respectively. There were two main results. (1) When the participants voluntarily stopped a fast movement in response to the auditory cue (the auditory-fast condition), they showed more underestimates than in the other three conditions. This underestimate effect was positively related to movement velocity. (2) An inverted-U-shaped bias pattern as a function of movement distance was observed consistently, except in the auditory-fast condition. These findings indicate that voluntarily stopping fast ongoing movement created a negative bias in the position estimate, supporting the idea that additional motor commands or efforts to abort planned movement are involved with the position estimation system. In addition, spatially probabilistic inference and signal-dependent noise may explain the underestimate effect of aborting ongoing movement.

On-field mounting position estimation of a lidar sensor

NASA Astrophysics Data System (ADS)

Khan, Owes; Bergelt, René; Hardt, Wolfram

2017-10-01

In order to retrieve a highly accurate view of their environment, autonomous cars are often equipped with LiDAR sensors. These sensors deliver a three dimensional point cloud in their own co-ordinate frame, where the origin is the sensor itself. However, the common co-ordinate system required by HAD (Highly Autonomous Driving) software systems has its origin at the center of the vehicle's rear axle. Thus, a transformation of the acquired point clouds to car co-ordinates is necessary, and thereby the determination of the exact mounting position of the LiDAR system in car coordinates is required. Unfortunately, directly measuring this position is a time-consuming and error-prone task. Therefore, different approaches have been suggested for its estimation which mostly require an exhaustive test-setup and are again time-consuming to prepare. When preparing a high number of LiDAR mounted test vehicles for data acquisition, most approaches fall short due to time or money constraints. In this paper we propose an approach for mounting position estimation which features an easy execution and setup, thus making it feasible for on-field calibration.

Effects of Prone Position and Positive End-Expiratory Pressure on Noninvasive Estimators of ICP: A Pilot Study.

PubMed

Robba, Chiara; Bragazzi, Nicola Luigi; Bertuccio, Alessandro; Cardim, Danilo; Donnelly, Joseph; Sekhon, Mypinder; Lavinio, Andrea; Duane, Derek; Burnstein, Rowan; Matta, Basil; Bacigaluppi, Susanna; Lattuada, Marco; Czosnyka, Marek

2017-07-01

Prone positioning and positive end-expiratory pressure can improve pulmonary gas exchange and respiratory mechanics. However, they may be associated with the development of intracranial hypertension. Intracranial pressure (ICP) can be noninvasively estimated from the sonographic measurement of the optic nerve sheath diameter (ONSD) and from the transcranial Doppler analysis of the pulsatility (ICPPI) and the diastolic component (ICPFVd) of the velocity waveform. The effect of the prone positioning and positive end-expiratory pressure on ONSD, ICPFVd, and ICPPI was assessed in a prospective study of 30 patients undergoing spine surgery. One-way repeated measures analysis of variance, fixed-effect multivariate regression models, and receiver operating characteristic analyses were used to analyze numerical data. The mean values of ONSD, ICPFVd, and ICPPI significantly increased after change from supine to prone position. Receiver operating characteristic analyses demonstrated that, among the noninvasive methods, the mean ONSD measure had the greatest area under the curve signifying it is the most effective in distinguishing a hypothetical change in ICP between supine and prone positioning (0.86±0.034 [0.79 to 0.92]). A cutoff of 0.43 cm was found to be a best separator of ONSD value between supine and prone with a specificity of 75.0 and a sensitivity of 86.7. Noninvasive ICP estimation may be useful in patients at risk of developing intracranial hypertension who require prone positioning.

Fusing Image Data for Calculating Position of an Object

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Cheng, Yang; Liebersbach, Robert; Trebi-Ollenu, Ashitey

2007-01-01

A computer program has been written for use in maintaining the calibration, with respect to the positions of imaged objects, of a stereoscopic pair of cameras on each of the Mars Explorer Rovers Spirit and Opportunity. The program identifies and locates a known object in the images. The object in question is part of a Moessbauer spectrometer located at the tip of a robot arm, the kinematics of which are known. In the program, the images are processed through a module that extracts edges, combines the edges into line segments, and then derives ellipse centroids from the line segments. The images are also processed by a feature-extraction algorithm that performs a wavelet analysis, then performs a pattern-recognition operation in the wavelet-coefficient space to determine matches to a texture feature measure derived from the horizontal, vertical, and diagonal coefficients. The centroids from the ellipse finder and the wavelet feature matcher are then fused to determine co-location. In the event that a match is found, the centroid (or centroids if multiple matches are present) is reported. If no match is found, the process reports the results of the analyses for further examination by human experts.

Self-position estimation using terrain shadows for precise planetary landing

NASA Astrophysics Data System (ADS)

Kuga, Tomoki; Kojima, Hirohisa

2018-07-01

In recent years, the investigation of moons and planets has attracted increasing attention in several countries. Furthermore, recently developed landing systems are now expected to reach more scientifically interesting areas close to hazardous terrain, requiring precise landing capabilities within a 100 m range of the target point. To achieve this, terrain-relative navigation (capable of estimating the position of a lander relative to the target point on the ground surface is actively being studied as an effective method for achieving highly accurate landings. This paper proposes a self-position estimation method using shadows on the terrain based on edge extraction from image processing algorithms. The effectiveness of the proposed method is validated through numerical simulations using images generated from a digital elevation model of simulated terrains.

Simulation analysis of photometric data for attitude estimation of unresolved space objects

NASA Astrophysics Data System (ADS)

Du, Xiaoping; Gou, Ruixin; Liu, Hao; Hu, Heng; Wang, Yang

2017-10-01

The attitude information acquisition of unresolved space objects, such as micro-nano satellites and GEO objects under the way of ground-based optical observations, is a challenge to space surveillance. In this paper, a useful method is proposed to estimate the SO attitude state according to the simulation analysis of photometric data in different attitude states. The object shape model was established and the parameters of the BRDF model were determined, then the space object photometric model was established. Furthermore, the photometric data of space objects in different states are analyzed by simulation and the regular characteristics of the photometric curves are summarized. The simulation results show that the photometric characteristics are useful for attitude inversion in a unique way. Thus, a new idea is provided for space object identification in this paper.

Research on the position estimation of human movement based on camera projection

NASA Astrophysics Data System (ADS)

Yi, Zhang; Yuan, Luo; Hu, Huosheng

2005-06-01

During the rehabilitation process of the post-stroke patients is conducted, their movements need to be localized and learned so that incorrect movement can be instantly modified or tuned. Therefore, tracking these movement becomes vital and necessary for the rehabilitative course. During human movement tracking, the position estimation of human movement is very important. In this paper, the character of the human movement system is first analyzed. Next, camera and inertial sensor are used to respectively measure the position of human movement, and the Kalman filter algorithm is proposed to fuse the two measurement to get a optimization estimation of the position. In the end, the performance of the method is analyzed.

An Object-Oriented Computer Code for Aircraft Engine Weight Estimation

NASA Technical Reports Server (NTRS)

Tong, Michael T.; Naylor, Bret A.

2009-01-01

Reliable engine-weight estimation at the conceptual design stage is critical to the development of new aircraft engines. It helps to identify the best engine concept amongst several candidates. At NASA Glenn Research Center (GRC), the Weight Analysis of Turbine Engines (WATE) computer code, originally developed by Boeing Aircraft, has been used to estimate the engine weight of various conceptual engine designs. The code, written in FORTRAN, was originally developed for NASA in 1979. Since then, substantial improvements have been made to the code to improve the weight calculations for most of the engine components. Most recently, to improve the maintainability and extensibility of WATE, the FORTRAN code has been converted into an object-oriented version. The conversion was done within the NASA's NPSS (Numerical Propulsion System Simulation) framework. This enables WATE to interact seamlessly with the thermodynamic cycle model which provides component flow data such as airflows, temperatures, and pressures, etc., that are required for sizing the components and weight calculations. The tighter integration between the NPSS and WATE would greatly enhance system-level analysis and optimization capabilities. It also would facilitate the enhancement of the WATE code for next-generation aircraft and space propulsion systems. In this paper, the architecture of the object-oriented WATE code (or WATE++) is described. Both the FORTRAN and object-oriented versions of the code are employed to compute the dimensions and weight of a 300-passenger aircraft engine (GE90 class). Both versions of the code produce essentially identical results as should be the case.

Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays.

PubMed

Byun, Yeun-Sub; Jeong, Rag-Gyo; Kang, Seok-Won

2015-11-13

The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test.

Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays

PubMed Central

Byun, Yeun-Sub; Jeong, Rag-Gyo; Kang, Seok-Won

2015-01-01

The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test. PMID:26580622

Objective-lens-free Fiber-based Position Detection with Nanometer Resolution in a Fiber Optical Trapping System.

PubMed

Ti, Chaoyang; Ho-Thanh, Minh-Tri; Wen, Qi; Liu, Yuxiang

2017-10-13

Position detection with high accuracy is crucial for force calibration of optical trapping systems. Most existing position detection methods require high-numerical-aperture objective lenses, which are bulky, expensive, and difficult to miniaturize. Here, we report an affordable objective-lens-free, fiber-based position detection scheme with 2 nm spatial resolution and 150 MHz bandwidth. This fiber based detection mechanism enables simultaneous trapping and force measurements in a compact fiber optical tweezers system. In addition, we achieved more reliable signal acquisition with less distortion compared with objective based position detection methods, thanks to the light guiding in optical fibers and small distance between the fiber tips and trapped particle. As a demonstration of the fiber based detection, we used the fiber optical tweezers to apply a force on a cell membrane and simultaneously measure the cellular response.

Aesthetic Issues in Spatial Composition: Effects of Vertical Position and Perspective on Framing Single Objects

ERIC Educational Resources Information Center

Sammartino, Jonathan; Palmer, Stephen E.

2012-01-01

Aesthetic preference for the vertical composition of single-object pictures was studied through a series of two-alternative forced-choice experiments. The results reveal the influence of several factors, including spatial asymmetries in the functional properties of the object and the typical position of the object relative to the observer. With…

An Upper Bound on Orbital Debris Collision Probability When Only One Object has Position Uncertainty Information

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2015-01-01

Upper bounds on high speed satellite collision probability, P (sub c), have been investigated. Previous methods assume an individual position error covariance matrix is available for each object. The two matrices being combined into a single, relative position error covariance matrix. Components of the combined error covariance are then varied to obtain a maximum P (sub c). If error covariance information for only one of the two objects was available, either some default shape has been used or nothing could be done. An alternative is presented that uses the known covariance information along with a critical value of the missing covariance to obtain an approximate but useful P (sub c) upper bound. There are various avenues along which an upper bound on the high speed satellite collision probability has been pursued. Typically, for the collision plane representation of the high speed collision probability problem, the predicted miss position in the collision plane is assumed fixed. Then the shape (aspect ratio of ellipse), the size (scaling of standard deviations) or the orientation (rotation of ellipse principal axes) of the combined position error ellipse is varied to obtain a maximum P (sub c). Regardless as to the exact details of the approach, previously presented methods all assume that an individual position error covariance matrix is available for each object and the two are combined into a single, relative position error covariance matrix. This combined position error covariance matrix is then modified according to the chosen scheme to arrive at a maximum P (sub c). But what if error covariance information for one of the two objects is not available? When error covariance information for one of the objects is not available the analyst has commonly defaulted to the situation in which only the relative miss position and velocity are known without any corresponding state error covariance information. The various usual methods of finding a maximum P (sub c) do

Estimating proportions of objects from multispectral scanner data

NASA Technical Reports Server (NTRS)

Horwitz, H. M.; Lewis, J. T.; Pentland, A. P.

1975-01-01

Progress is reported in developing and testing methods of estimating, from multispectral scanner data, proportions of target classes in a scene when there are a significiant number of boundary pixels. Procedures were developed to exploit: (1) prior information concerning the number of object classes normally occurring in a pixel, and (2) spectral information extracted from signals of adjoining pixels. Two algorithms, LIMMIX and nine-point mixtures, are described along with supporting processing techniques. An important by-product of the procedures, in contrast to the previous method, is that they are often appropriate when the number of spectral bands is small. Preliminary tests on LANDSAT data sets, where target classes were (1) lakes and ponds, and (2) agricultural crops were encouraging.

Underwater binocular imaging of aerial objects versus the position of eyes relative to the flat water surface.

PubMed

Barta, András; Horváth, Gábor

2003-12-01

The apparent position, size, and shape of aerial objects viewed binocularly from water change as a result of the refraction of light at the water surface. Earlier studies of the refraction-distorted structure of the aerial binocular visual field of underwater observers were restricted to either vertically or horizontally oriented eyes. Here we calculate the position of the binocular image point of an aerial object point viewed by two arbitrarily positioned underwater eyes when the water surface is flat. Assuming that binocular image fusion is performed by appropriate vergent eye movements to bring the object's image onto the foveae, the structure of the aerial binocular visual field is computed and visualized as a function of the relative positions of the eyes. We also analyze two erroneous representations of the underwater imaging of aerial objects that have occurred in the literature. It is demonstrated that the structure of the aerial binocular visual field of underwater observers distorted by refraction is more complex than has been thought previously.

Effects of linear trends on estimation of noise in GNSS position time-series

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

Dmitrieva, K.; Segall, P.; Bradley, A. M.

A thorough understanding of time-dependent noise in Global Navigation Satellite System (GNSS) position time-series is necessary for computing uncertainties in any signals found in the data. However, estimation of time-correlated noise is a challenging task and is complicated by the difficulty in separating noise from signal, the features of greatest interest in the time-series. In this study, we investigate how linear trends affect the estimation of noise in daily GNSS position time-series. We use synthetic time-series to study the relationship between linear trends and estimates of time-correlated noise for the six most commonly cited noise models. We find that themore » effects of added linear trends, or conversely de-trending, vary depending on the noise model. The commonly adopted model of random walk (RW), flicker noise (FN) and white noise (WN) is the most severely affected by de-trending, with estimates of low-amplitude RW most severely biased. FN plus WN is least affected by adding or removing trends. Non-integer power-law noise estimates are also less affected by de-trending, but are very sensitive to the addition of trend when the spectral index is less than one. We derive an analytical relationship between linear trends and the estimated RW variance for the special case of pure RW noise. Finally, overall, we find that to ascertain the correct noise model for GNSS position time-series and to estimate the correct noise parameters, it is important to have independent constraints on the actual trends in the data.« less

Effects of linear trends on estimation of noise in GNSS position time-series

NASA Astrophysics Data System (ADS)

Dmitrieva, K.; Segall, P.; Bradley, A. M.

2017-01-01

A thorough understanding of time-dependent noise in Global Navigation Satellite System (GNSS) position time-series is necessary for computing uncertainties in any signals found in the data. However, estimation of time-correlated noise is a challenging task and is complicated by the difficulty in separating noise from signal, the features of greatest interest in the time-series. In this paper, we investigate how linear trends affect the estimation of noise in daily GNSS position time-series. We use synthetic time-series to study the relationship between linear trends and estimates of time-correlated noise for the six most commonly cited noise models. We find that the effects of added linear trends, or conversely de-trending, vary depending on the noise model. The commonly adopted model of random walk (RW), flicker noise (FN) and white noise (WN) is the most severely affected by de-trending, with estimates of low-amplitude RW most severely biased. FN plus WN is least affected by adding or removing trends. Non-integer power-law noise estimates are also less affected by de-trending, but are very sensitive to the addition of trend when the spectral index is less than one. We derive an analytical relationship between linear trends and the estimated RW variance for the special case of pure RW noise. Overall, we find that to ascertain the correct noise model for GNSS position time-series and to estimate the correct noise parameters, it is important to have independent constraints on the actual trends in the data.

Effects of linear trends on estimation of noise in GNSS position time-series

DOE PAGES

Dmitrieva, K.; Segall, P.; Bradley, A. M.

2016-10-20

A thorough understanding of time-dependent noise in Global Navigation Satellite System (GNSS) position time-series is necessary for computing uncertainties in any signals found in the data. However, estimation of time-correlated noise is a challenging task and is complicated by the difficulty in separating noise from signal, the features of greatest interest in the time-series. In this study, we investigate how linear trends affect the estimation of noise in daily GNSS position time-series. We use synthetic time-series to study the relationship between linear trends and estimates of time-correlated noise for the six most commonly cited noise models. We find that themore » effects of added linear trends, or conversely de-trending, vary depending on the noise model. The commonly adopted model of random walk (RW), flicker noise (FN) and white noise (WN) is the most severely affected by de-trending, with estimates of low-amplitude RW most severely biased. FN plus WN is least affected by adding or removing trends. Non-integer power-law noise estimates are also less affected by de-trending, but are very sensitive to the addition of trend when the spectral index is less than one. We derive an analytical relationship between linear trends and the estimated RW variance for the special case of pure RW noise. Finally, overall, we find that to ascertain the correct noise model for GNSS position time-series and to estimate the correct noise parameters, it is important to have independent constraints on the actual trends in the data.« less

Impact of the Fano Factor on Position and Energy Estimation in Scintillation Detectors.

PubMed

Bora, Vaibhav; Barrett, Harrison H; Jha, Abhinav K; Clarkson, Eric

2015-02-01

The Fano factor for an integer-valued random variable is defined as the ratio of its variance to its mean. Light from various scintillation crystals have been reported to have Fano factors from sub-Poisson (Fano factor < 1) to super-Poisson (Fano factor > 1). For a given mean, a smaller Fano factor implies a smaller variance and thus less noise. We investigated if lower noise in the scintillation light will result in better spatial and energy resolutions. The impact of Fano factor on the estimation of position of interaction and energy deposited in simple gamma-camera geometries is estimated by two methods - calculating the Cramér-Rao bound and estimating the variance of a maximum likelihood estimator. The methods are consistent with each other and indicate that when estimating the position of interaction and energy deposited by a gamma-ray photon, the Fano factor of a scintillator does not affect the spatial resolution. A smaller Fano factor results in a better energy resolution.

Recent testing of a micro autonomous positioning system for multi-object instrumentation

NASA Astrophysics Data System (ADS)

Cochrane, W. A.; Atkinson, D. C.; Bailie, T. E. C.; Dickson, C.; Lim, T.; Luo, X.; Montgomery, D. M.; Schnetler, H.; Taylor, W. D.; Wilson, B.

2012-09-01

A multiple pick off mirror positioning sub-system has been developed as a solution for the deployment of mirrors within multi-object instrumentation such as the EAGLE instrument in the European Extremely Large Telescope (E-ELT). The positioning sub-system is a two wheeled differential steered friction drive robot with a footprint of approximately 20 x 20 mm. Controlled by RF communications there are two versions of the robot that exist. One is powered by a single cell lithium ion battery and the other utilises a power floor system. The robots use two brushless DC motors with 125:1 planetary gear heads for positioning in the coarse drive stages. A unique power floor allows the robots to be positioned at any location in any orientation on the focal plane. The design, linear repeatability tests, metrology and power continuity of the robot will be evaluated and presented in this paper. To gather photons from the objects of interest it is important to position POMs within a sphere of confusion of less than 10 μm, with an angular alignment better than 1 mrad. The robots potential of meeting these requirements will be described through the open-loop repeatability tests conducted with a Faro laser beam tracker. Tests have involved sending the robot step commands and automatically taking continuous measurements every three seconds. Currently the robot is capable of repeatedly travelling 233 mm within 0.307 mm at 5 mm/s. An analysis of the power floors reliability through the continuous monitoring of the voltage across the tracks with a Pico logger will also be presented.

Acoustic Sensor Network for Relative Positioning of Nodes

PubMed Central

De Marziani, Carlos; Ureña, Jesus; Hernandez, Álvaro; Mazo, Manuel; García, Juan Jesús; Jimenez, Ana; Rubio, María del Carmen Pérez; Álvarez, Fernando; Villadangos, José Manuel

2009-01-01

In this work, an acoustic sensor network for a relative localization system is analyzed by reporting the accuracy achieved in the position estimation. The proposed system has been designed for those applications where objects are not restricted to a particular environment and thus one cannot depend on any external infrastructure to compute their positions. The objects are capable of computing spatial relations among themselves using only acoustic emissions as a ranging mechanism. The object positions are computed by a multidimensional scaling (MDS) technique and, afterwards, a least-square algorithm, based on the Levenberg-Marquardt algorithm (LMA), is applied to refine results. Regarding the position estimation, all the parameters involved in the computation of the temporary relations with the proposed ranging mechanism have been considered. The obtained results show that a fine-grained localization can be achieved considering a Gaussian distribution error in the proposed ranging mechanism. Furthermore, since acoustic sensors require a line-of-sight to properly work, the system has been tested by modeling the lost of this line-of-sight as a non-Gaussian error. A suitable position estimation has been achieved even if it is considered a bias of up to 25 of the line-of-sight measurements among a set of nodes. PMID:22291520

Estimating the spatial position of marine mammals based on digital camera recordings

PubMed Central

Hoekendijk, Jeroen P A; de Vries, Jurre; van der Bolt, Krissy; Greinert, Jens; Brasseur, Sophie; Camphuysen, Kees C J; Aarts, Geert

2015-01-01

Estimating the spatial position of organisms is essential to quantify interactions between the organism and the characteristics of its surroundings, for example, predator–prey interactions, habitat selection, and social associations. Because marine mammals spend most of their time under water and may appear at the surface only briefly, determining their exact geographic location can be challenging. Here, we developed a photogrammetric method to accurately estimate the spatial position of marine mammals or birds at the sea surface. Digital recordings containing landscape features with known geographic coordinates can be used to estimate the distance and bearing of each sighting relative to the observation point. The method can correct for frame rotation, estimates pixel size based on the reference points, and can be applied to scenarios with and without a visible horizon. A set of R functions was written to process the images and obtain accurate geographic coordinates for each sighting. The method is applied to estimate the spatiotemporal fine-scale distribution of harbour porpoises in a tidal inlet. Video recordings of harbour porpoises were made from land, using a standard digital single-lens reflex (DSLR) camera, positioned at a height of 9.59 m above mean sea level. Porpoises were detected up to a distance of ∽3136 m (mean 596 m), with a mean location error of 12 m. The method presented here allows for multiple detections of different individuals within a single video frame and for tracking movements of individuals based on repeated sightings. In comparison with traditional methods, this method only requires a digital camera to provide accurate location estimates. It especially has great potential in regions with ample data on local (a)biotic conditions, to help resolve functional mechanisms underlying habitat selection and other behaviors in marine mammals in coastal areas. PMID:25691982

Estimation of satellite position, clock and phase bias corrections

NASA Astrophysics Data System (ADS)

Henkel, Patrick; Psychas, Dimitrios; Günther, Christoph; Hugentobler, Urs

2018-05-01

Precise point positioning with integer ambiguity resolution requires precise knowledge of satellite position, clock and phase bias corrections. In this paper, a method for the estimation of these parameters with a global network of reference stations is presented. The method processes uncombined and undifferenced measurements of an arbitrary number of frequencies such that the obtained satellite position, clock and bias corrections can be used for any type of differenced and/or combined measurements. We perform a clustering of reference stations. The clustering enables a common satellite visibility within each cluster and an efficient fixing of the double difference ambiguities within each cluster. Additionally, the double difference ambiguities between the reference stations of different clusters are fixed. We use an integer decorrelation for ambiguity fixing in dense global networks. The performance of the proposed method is analysed with both simulated Galileo measurements on E1 and E5a and real GPS measurements of the IGS network. We defined 16 clusters and obtained satellite position, clock and phase bias corrections with a precision of better than 2 cm.

Improving Estimation of Ground Casualty Risk From Reentering Space Objects

NASA Technical Reports Server (NTRS)

Ostrom, Chris L.

2017-01-01

A recent improvement to the long-term estimation of ground casualties from reentering space debris is the further refinement and update to the human population distribution. Previous human population distributions were based on global totals with simple scaling factors for future years, or a coarse grid of population counts in a subset of the world's countries, each cell having its own projected growth rate. The newest population model includes a 5-fold refinement in both latitude and longitude resolution. All areas along a single latitude are combined to form a global population distribution as a function of latitude, creating a more accurate population estimation based on non-uniform growth at the country and area levels. Previous risk probability calculations used simplifying assumptions that did not account for the ellipsoidal nature of the Earth. The new method uses first, a simple analytical method to estimate the amount of time spent above each latitude band for a debris object with a given orbit inclination and second, a more complex numerical method that incorporates the effects of a non-spherical Earth. These new results are compared with the prior models to assess the magnitude of the effects on reentry casualty risk.

Improving Estimation of Ground Casualty Risk from Reentering Space Objects

NASA Technical Reports Server (NTRS)

Ostrom, C.

2017-01-01

A recent improvement to the long-term estimation of ground casualties from reentering space debris is the further refinement and update to the human population distribution. Previous human population distributions were based on global totals with simple scaling factors for future years, or a coarse grid of population counts in a subset of the world's countries, each cell having its own projected growth rate. The newest population model includes a 5-fold refinement in both latitude and longitude resolution. All areas along a single latitude are combined to form a global population distribution as a function of latitude, creating a more accurate population estimation based on non-uniform growth at the country and area levels. Previous risk probability calculations used simplifying assumptions that did not account for the ellipsoidal nature of the earth. The new method uses first, a simple analytical method to estimate the amount of time spent above each latitude band for a debris object with a given orbit inclination, and second, a more complex numerical method that incorporates the effects of a non-spherical Earth. These new results are compared with the prior models to assess the magnitude of the effects on reentry casualty risk.

The First Result of Relative Positioning and Velocity Estimation Based on CAPS

PubMed Central

Zhao, Jiaojiao; Ge, Jian; Wang, Liang; Wang, Ningbo; Zhou, Kai; Yuan, Hong

2018-01-01

The Chinese Area Positioning System (CAPS) is a new positioning system developed by the Chinese Academy of Sciences based on the communication satellites in geosynchronous orbit. The CAPS has been regarded as a pilot system to test the new technology for the design, construction and update of the BeiDou Navigation Satellite System (BDS). The system structure of CAPS, including the space, ground control station and user segments, is almost like the traditional Global Navigation Satellite Systems (GNSSs), but with the clock on the ground, the navigation signal in C waveband, and different principles of operation. The major difference is that the CAPS navigation signal is first generated at the ground control station, before being transmitted to the satellite in orbit and finally forwarded by the communication satellite transponder to the user. This design moves the clock from the satellite in orbit to the ground. The clock error can therefore be easily controlled and mitigated to improve the positioning accuracy. This paper will present the performance of CAPS-based relative positioning and velocity estimation as assessed in Beijing, China. The numerical results show that, (1) the accuracies of relative positioning, using only code measurements, are 1.25 and 1.8 m in the horizontal and vertical components, respectively; (2) meanwhile, they are about 2.83 and 3.15 cm in static mode and 6.31 and 10.78 cm in kinematic mode, respectively, when using the carrier-phase measurements with ambiguities fixed; and (3) the accuracy of the velocity estimation is about 0.04 and 0.11 m/s in static and kinematic modes, respectively. These results indicate the potential application of CAPS for high-precision positioning and velocity estimation and the availability of a new navigation mode based on communication satellites. PMID:29757204

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

False Positive Probabilities for all Kepler Objects of Interest: 1284 Newly Validated Planets and 428 Likely False Positives

NASA Astrophysics Data System (ADS)

Morton, Timothy D.; Bryson, Stephen T.; Coughlin, Jeffrey L.; Rowe, Jason F.; Ravichandran, Ganesh; Petigura, Erik A.; Haas, Michael R.; Batalha, Natalie M.

2016-05-01

We present astrophysical false positive probability calculations for every Kepler Object of Interest (KOI)—the first large-scale demonstration of a fully automated transiting planet validation procedure. Out of 7056 KOIs, we determine that 1935 have probabilities <1% of being astrophysical false positives, and thus may be considered validated planets. Of these, 1284 have not yet been validated or confirmed by other methods. In addition, we identify 428 KOIs that are likely to be false positives, but have not yet been identified as such, though some of these may be a result of unidentified transit timing variations. A side product of these calculations is full stellar property posterior samplings for every host star, modeled as single, binary, and triple systems. These calculations use vespa, a publicly available Python package that is able to be easily applied to any transiting exoplanet candidate.

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.

Visual object tracking by correlation filters and online learning

NASA Astrophysics Data System (ADS)

Zhang, Xin; Xia, Gui-Song; Lu, Qikai; Shen, Weiming; Zhang, Liangpei

2018-06-01

Due to the complexity of background scenarios and the variation of target appearance, it is difficult to achieve high accuracy and fast speed for object tracking. Currently, correlation filters based trackers (CFTs) show promising performance in object tracking. The CFTs estimate the target's position by correlation filters with different kinds of features. However, most of CFTs can hardly re-detect the target in the case of long-term tracking drifts. In this paper, a feature integration object tracker named correlation filters and online learning (CFOL) is proposed. CFOL estimates the target's position and its corresponding correlation score using the same discriminative correlation filter with multi-features. To reduce tracking drifts, a new sampling and updating strategy for online learning is proposed. Experiments conducted on 51 image sequences demonstrate that the proposed algorithm is superior to the state-of-the-art approaches.

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

Estimating Shape and Micro-Motion Parameter of Rotationally Symmetric Space Objects from the Infrared Signature

PubMed Central

Wu, Yabei; Lu, Huanzhang; Zhao, Fei; Zhang, Zhiyong

2016-01-01

Shape serves as an important additional feature for space target classification, which is complementary to those made available. Since different shapes lead to different projection functions, the projection property can be regarded as one kind of shape feature. In this work, the problem of estimating the projection function from the infrared signature of the object is addressed. We show that the projection function of any rotationally symmetric object can be approximately represented as a linear combination of some base functions. Based on this fact, the signal model of the emissivity-area product sequence is constructed, which is a particular mathematical function of the linear coefficients and micro-motion parameters. Then, the least square estimator is proposed to estimate the projection function and micro-motion parameters jointly. Experiments validate the effectiveness of the proposed method. PMID:27763500

Estimated capacity of object files in visual short-term memory is not improved by retrieval cueing.

PubMed

Saiki, Jun; Miyatsuji, Hirofumi

2009-03-23

Visual short-term memory (VSTM) has been claimed to maintain three to five feature-bound object representations. Some results showing smaller capacity estimates for feature binding memory have been interpreted as the effects of interference in memory retrieval. However, change-detection tasks may not properly evaluate complex feature-bound representations such as triple conjunctions in VSTM. To understand the general type of feature-bound object representation, evaluation of triple conjunctions is critical. To test whether interference occurs in memory retrieval for complete object file representations in a VSTM task, we cued retrieval in novel paradigms that directly evaluate the memory for triple conjunctions, in comparison with a simple change-detection task. In our multiple object permanence tracking displays, observers monitored for a switch in feature combination between objects during an occlusion period, and we found that a retrieval cue provided no benefit with the triple conjunction tasks, but significant facilitation with the change-detection task, suggesting that low capacity estimates of object file memory in VSTM reflect a limit on maintenance, not retrieval.

A signal strength priority based position estimation for mobile platforms

NASA Astrophysics Data System (ADS)

Kalgikar, Bhargav; Akopian, David; Chen, Philip

2010-01-01

Global Positioning System (GPS) products help to navigate while driving, hiking, boating, and flying. GPS uses a combination of orbiting satellites to determine position coordinates. This works great in most outdoor areas, but the satellite signals are not strong enough to penetrate inside most indoor environments. As a result, a new strain of indoor positioning technologies that make use of 802.11 wireless LANs (WLAN) is beginning to appear on the market. In WLAN positioning the system either monitors propagation delays between wireless access points and wireless device users to apply trilateration techniques or it maintains the database of location-specific signal fingerprints which is used to identify the most likely match of incoming signal data with those preliminary surveyed and saved in the database. In this paper we investigate the issue of deploying WLAN positioning software on mobile platforms with typically limited computational resources. We suggest a novel received signal strength rank order based location estimation system to reduce computational loads with a robust performance. The proposed system performance is compared to conventional approaches.

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

NASA Astrophysics Data System (ADS)

Casasent, David P.; Shenoy, Rajesh

1997-10-01

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

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

Expedite random structure searching using objects from Wyckoff positions

NASA Astrophysics Data System (ADS)

Wang, Shu-Wei; Hsing, Cheng-Rong; Wei, Ching-Ming

2018-02-01

Random structure searching has been proved to be a powerful approach to search and find the global minimum and the metastable structures. A true random sampling is in principle needed yet it would be highly time-consuming and/or practically impossible to find the global minimum for the complicated systems in their high-dimensional configuration space. Thus the implementations of reasonable constraints, such as adopting system symmetries to reduce the independent dimension in structural space and/or imposing chemical information to reach and relax into low-energy regions, are the most essential issues in the approach. In this paper, we propose the concept of "object" which is either an atom or composed of a set of atoms (such as molecules or carbonates) carrying a symmetry defined by one of the Wyckoff positions of space group and through this process it allows the searching of global minimum for a complicated system to be confined in a greatly reduced structural space and becomes accessible in practice. We examined several representative materials, including Cd3As2 crystal, solid methanol, high-pressure carbonates (FeCO3), and Si(111)-7 × 7 reconstructed surface, to demonstrate the power and the advantages of using "object" concept in random structure searching.

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.

Estimation of the discharges of the multiple water level stations by multi-objective optimization

NASA Astrophysics Data System (ADS)

Matsumoto, Kazuhiro; Miyamoto, Mamoru; Yamakage, Yuzuru; Tsuda, Morimasa; Yanami, Hitoshi; Anai, Hirokazu; Iwami, Yoichi

2016-04-01

This presentation shows two aspects of the parameter identification to estimate the discharges of the multiple water level stations by multi-objective optimization. One is how to adjust the parameters to estimate the discharges accurately. The other is which optimization algorithms are suitable for the parameter identification. Regarding the previous studies, there is a study that minimizes the weighted error of the discharges of the multiple water level stations by single-objective optimization. On the other hand, there are some studies that minimize the multiple error assessment functions of the discharge of a single water level station by multi-objective optimization. This presentation features to simultaneously minimize the errors of the discharges of the multiple water level stations by multi-objective optimization. Abe River basin in Japan is targeted. The basin area is 567.0km2. There are thirteen rainfall stations and three water level stations. Nine flood events are investigated. They occurred from 2005 to 2012 and the maximum discharges exceed 1,000m3/s. The discharges are calculated with PWRI distributed hydrological model. The basin is partitioned into the meshes of 500m x 500m. Two-layer tanks are placed on each mesh. Fourteen parameters are adjusted to estimate the discharges accurately. Twelve of them are the hydrological parameters and two of them are the parameters of the initial water levels of the tanks. Three objective functions are the mean squared errors between the observed and calculated discharges at the water level stations. Latin Hypercube sampling is one of the uniformly sampling algorithms. The discharges are calculated with respect to the parameter values sampled by a simplified version of Latin Hypercube sampling. The observed discharge is surrounded by the calculated discharges. It suggests that it might be possible to estimate the discharge accurately by adjusting the parameters. In a sense, it is true that the discharge of a water

Estimated SLR station position and network frame sensitivity to time-varying gravity

NASA Astrophysics Data System (ADS)

Zelensky, Nikita P.; Lemoine, Frank G.; Chinn, Douglas S.; Melachroinos, Stavros; Beckley, Brian D.; Beall, Jennifer Wiser; Bordyugov, Oleg

2014-06-01

This paper evaluates the sensitivity of ITRF2008-based satellite laser ranging (SLR) station positions estimated weekly using LAGEOS-1/2 data from 1993 to 2012 to non-tidal time-varying gravity (TVG). Two primary methods for modeling TVG from degree-2 are employed. The operational approach applies an annual GRACE-derived field, and IERS recommended linear rates for five coefficients. The experimental approach uses low-order/degree coefficients estimated weekly from SLR and DORIS processing of up to 11 satellites (tvg4x4). This study shows that the LAGEOS-1/2 orbits and the weekly station solutions are sensitive to more detailed modeling of TVG than prescribed in the current IERS standards. Over 1993-2012 tvg4x4 improves SLR residuals by 18 % and shows 10 % RMS improvement in station stability. Tests suggest that the improved stability of the tvg4x4 POD solution frame may help clarify geophysical signals present in the estimated station position time series. The signals include linear and seasonal station motion, and motion of the TRF origin, particularly in Z. The effect on both POD and the station solutions becomes increasingly evident starting in 2006. Over 2008-2012, the tvg4x4 series improves SLR residuals by 29 %. Use of the GRGS RL02 series shows similar improvement in POD. Using tvg4x4, secular changes in the TRF origin Z component double over the last decade and although not conclusive, it is consistent with increased geocenter rate expected due to continental ice melt. The test results indicate that accurate modeling of TVG is necessary for improvement of station position estimation using SLR data.

VizieR Online Data Catalog: KiDS Survey for solar system objects mining (Mahlke+, 2018)

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.

2017-10-01

Provided are the observations of the 28,290 SSO candidates recovered from the KiDS survey. The candidates are split up into two subsamples; the first contains 20,221 candidates with an estimated false-positive content of less than 0.05%. The second sample contains 8,069 candidates with only three observations each or close to bright stars, with an estimated false-positive content of approximately 24%. Provided are the recovered positions in right ascension and declination, the observation epochs, the calculated proper motions, the magnitudes, the observation bands, and the object name and expected visual magnitude if the object was matched to a SkyBoT object (entries are empty if no match was found). (2 data files).

Neural Representations of Sensorimotor Memory- and Digit Position-Based Load Force Adjustments Before the Onset of Dexterous Object Manipulation.

PubMed

Marneweck, Michelle; Barany, Deborah A; Santello, Marco; Grafton, Scott T

2018-05-16

Anticipatory load forces for dexterous object manipulation in humans are modulated based on visual object property cues, sensorimotor memories of previous experiences with the object, and, when digit positioning varies from trial to trial, the integrating of this sensed variability with force modulation. Studies of the neural representations encoding these anticipatory mechanisms have not considered these mechanisms separately from each other or from feedback mechanisms emerging after lift onset. Here, representational similarity analyses of fMRI data were used to identify neural representations of sensorimotor memories and the sensing and integration of digit position. Cortical activity and movement kinematics were measured as 20 human subjects (11 women) minimized tilt of a symmetrically shaped object with a concealed asymmetric center of mass (CoM, left and right sided). This task required generating compensatory torques in opposite directions, which, without helpful visual CoM cues, relied primarily on sensorimotor memories of the same object and CoM. Digit position was constrained or unconstrained, the latter of which required modulating forces beyond what can be recalled from sensorimotor memories to compensate for digit position variability. Ventral premotor (PMv), somatosensory, and cerebellar lobule regions (CrusII, VIIIa) were sensitive to anticipatory behaviors that reflect sensorimotor memory content, as shown by larger voxel pattern differences for unmatched than matched CoM conditions. Cerebellar lobule I-IV, Broca area 44, and PMv showed greater voxel pattern differences for unconstrained than constrained grasping, which suggests their sensitivity to monitor the online coincidence of planned and actual digit positions and correct for a mismatch by force modulation. SIGNIFICANCE STATEMENT To pick up a water glass without slipping, tipping, or spilling requires anticipatory planning of fingertip load forces before the lift commences. This anticipation

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

Parameter Estimation of Computationally Expensive Watershed Models Through Efficient Multi-objective Optimization and Interactive Decision Analytics

NASA Astrophysics Data System (ADS)

Akhtar, Taimoor; Shoemaker, Christine

2016-04-01

Watershed model calibration is inherently a multi-criteria problem. Conflicting trade-offs exist between different quantifiable calibration criterions indicating the non-existence of a single optimal parameterization. Hence, many experts prefer a manual approach to calibration where the inherent multi-objective nature of the calibration problem is addressed through an interactive, subjective, time-intensive and complex decision making process. Multi-objective optimization can be used to efficiently identify multiple plausible calibration alternatives and assist calibration experts during the parameter estimation process. However, there are key challenges to the use of multi objective optimization in the parameter estimation process which include: 1) multi-objective optimization usually requires many model simulations, which is difficult for complex simulation models that are computationally expensive; and 2) selection of one from numerous calibration alternatives provided by multi-objective optimization is non-trivial. This study proposes a "Hybrid Automatic Manual Strategy" (HAMS) for watershed model calibration to specifically address the above-mentioned challenges. HAMS employs a 3-stage framework for parameter estimation. Stage 1 incorporates the use of an efficient surrogate multi-objective algorithm, GOMORS, for identification of numerous calibration alternatives within a limited simulation evaluation budget. The novelty of HAMS is embedded in Stages 2 and 3 where an interactive visual and metric based analytics framework is available as a decision support tool to choose a single calibration from the numerous alternatives identified in Stage 1. Stage 2 of HAMS provides a goodness-of-fit measure / metric based interactive framework for identification of a small subset (typically less than 10) of meaningful and diverse set of calibration alternatives from the numerous alternatives obtained in Stage 1. Stage 3 incorporates the use of an interactive visual

The Sensitivity of Derived Estimates to the Measurement Quality Objectives for Independent Variables

Treesearch

Francis A. Roesch

2005-01-01

The effect of varying the allowed measurement error for individual tree variables upon county estimates of gross cubic-foot volume was examined. Measurement Quality Objectives (MQOs) for three forest tree variables (biological identity, diameter, and height) used in individual tree gross cubic-foot volume equations were varied from the current USDA Forest Service...

A demonstration of position angle-only weak lensing shear estimators on the GREAT3 simulations

NASA Astrophysics Data System (ADS)

Whittaker, Lee; Brown, Michael L.; Battye, Richard A.

2015-12-01

We develop and apply the position angle-only shear estimator of Whittaker, Brown & Battye to realistic galaxy images. This is done by demonstrating the method on the simulations of the third GRavitational lEnsing Accuracy Testing (GREAT3) challenge, which include contributions from anisotropic point spread functions (PSFs). We measure the position angles of the galaxies using three distinct methods - the integrated light method, quadrupole moments of surface brightness, and using model-based ellipticity measurements provided by IM3SHAPE. A weighting scheme is adopted to address biases in the position angle measurements which arise in the presence of an anisotropic PSF. Biases on the shear estimates, due to measurement errors on the position angles and correlations between the measurement errors and the true position angles, are corrected for using simulated galaxy images and an iterative procedure. The properties of the simulations are estimated using the deep field images provided as part of the challenge. A method is developed to match the distributions of galaxy fluxes and half-light radii from the deep fields to the corresponding distributions in the field of interest. We recover angle-only shear estimates with a performance close to current well-established model and moments-based methods for all three angle measurement techniques. The Q-values for all three methods are found to be Q ˜ 400. The code is freely available online at http://www.jb.man.ac.uk/mbrown/angle_only_shear/.

Surrogate Based Uni/Multi-Objective Optimization and Distribution Estimation Methods

NASA Astrophysics Data System (ADS)

Gong, W.; Duan, Q.; Huo, X.

2017-12-01

Parameter calibration has been demonstrated as an effective way to improve the performance of dynamic models, such as hydrological models, land surface models, weather and climate models etc. Traditional optimization algorithms usually cost a huge number of model evaluations, making dynamic model calibration very difficult, or even computationally prohibitive. With the help of a serious of recently developed adaptive surrogate-modelling based optimization methods: uni-objective optimization method ASMO, multi-objective optimization method MO-ASMO, and probability distribution estimation method ASMO-PODE, the number of model evaluations can be significantly reduced to several hundreds, making it possible to calibrate very expensive dynamic models, such as regional high resolution land surface models, weather forecast models such as WRF, and intermediate complexity earth system models such as LOVECLIM. This presentation provides a brief introduction to the common framework of adaptive surrogate-based optimization algorithms of ASMO, MO-ASMO and ASMO-PODE, a case study of Common Land Model (CoLM) calibration in Heihe river basin in Northwest China, and an outlook of the potential applications of the surrogate-based optimization methods.

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.

Estimating Accurate Relative Spacecraft Angular Position from DSN VLBI Phases Using X-Band Telemetry or DOR Tones

NASA Technical Reports Server (NTRS)

Bagri, Durgadas S.; Majid, Walid

2009-01-01

At present spacecraft angular position with Deep Space Network (DSN) is determined using group delay estimates from very long baseline interferometer (VLBI) phase measurements employing differential one way ranging (DOR) tones. As an alternative to this approach, we propose estimating position of a spacecraft to half a fringe cycle accuracy using time variations between measured and calculated phases as the Earth rotates using DSN VLBI baseline(s). Combining fringe location of the target with the phase allows high accuracy for spacecraft angular position estimate. This can be achieved using telemetry signals of at least 4-8 MSamples/sec data rate or DOR tones.

Estimation of cortical magnification from positional error in normally sighted and amblyopic subjects

PubMed Central

Hussain, Zahra; Svensson, Carl-Magnus; Besle, Julien; Webb, Ben S.; Barrett, Brendan T.; McGraw, Paul V.

2015-01-01

We describe a method for deriving the linear cortical magnification factor from positional error across the visual field. We compared magnification obtained from this method between normally sighted individuals and amblyopic individuals, who receive atypical visual input during development. The cortical magnification factor was derived for each subject from positional error at 32 locations in the visual field, using an established model of conformal mapping between retinal and cortical coordinates. Magnification of the normally sighted group matched estimates from previous physiological and neuroimaging studies in humans, confirming the validity of the approach. The estimate of magnification for the amblyopic group was significantly lower than the normal group: by 4.4 mm deg−1 at 1° eccentricity, assuming a constant scaling factor for both groups. These estimates, if correct, suggest a role for early visual experience in establishing retinotopic mapping in cortex. We discuss the implications of altered cortical magnification for cortical size, and consider other neural changes that may account for the amblyopic results. PMID:25761341

How does the brain rapidly learn and reorganize view-invariant and position-invariant object representations in the inferotemporal cortex?

PubMed

Cao, Yongqiang; Grossberg, Stephen; Markowitz, Jeffrey

2011-12-01

All primates depend for their survival on being able to rapidly learn about and recognize objects. Objects may be visually detected at multiple positions, sizes, and viewpoints. How does the brain rapidly learn and recognize objects while scanning a scene with eye movements, without causing a combinatorial explosion in the number of cells that are needed? How does the brain avoid the problem of erroneously classifying parts of different objects together at the same or different positions in a visual scene? In monkeys and humans, a key area for such invariant object category learning and recognition is the inferotemporal cortex (IT). A neural model is proposed to explain how spatial and object attention coordinate the ability of IT to learn invariant category representations of objects that are seen at multiple positions, sizes, and viewpoints. The model clarifies how interactions within a hierarchy of processing stages in the visual brain accomplish this. These stages include the retina, lateral geniculate nucleus, and cortical areas V1, V2, V4, and IT in the brain's What cortical stream, as they interact with spatial attention processes within the parietal cortex of the Where cortical stream. The model builds upon the ARTSCAN model, which proposed how view-invariant object representations are generated. The positional ARTSCAN (pARTSCAN) model proposes how the following additional processes in the What cortical processing stream also enable position-invariant object representations to be learned: IT cells with persistent activity, and a combination of normalizing object category competition and a view-to-object learning law which together ensure that unambiguous views have a larger effect on object recognition than ambiguous views. The model explains how such invariant learning can be fooled when monkeys, or other primates, are presented with an object that is swapped with another object during eye movements to foveate the original object. The swapping procedure is

Estimation of Subdaily Polar Motion with the Global Positioning System During the Spoch '92 Campaign

NASA Technical Reports Server (NTRS)

Ibanez-Meier, R.; Freedman, A. P.; Herring, T. A.; Gross, R. S.; Lichten, S. M.; Lindqwister, U. J.

1994-01-01

Data collected over six days from a worldwide Global Positioning System (GPS) tracking network during the Epoch '92 campaign are used to estimate variations of the Earth's pole position every 30 minutes.

Tissue resistivity estimation in the presence of positional and geometrical uncertainties.

PubMed

Baysal, U; Eyüboğlu, B M

2000-08-01

Geometrical uncertainties (organ boundary variation and electrode position uncertainties) are the biggest sources of error in estimating electrical resistivity of tissues from body surface measurements. In this study, in order to decrease estimation errors, the statistically constrained minimum mean squared error estimation algorithm (MiMSEE) is constrained with a priori knowledge of the geometrical uncertainties in addition to the constraints based on geometry, resistivity range, linearization and instrumentation errors. The MiMSEE calculates an optimum inverse matrix, which maps the surface measurements to the unknown resistivity distribution. The required data are obtained from four-electrode impedance measurements, similar to injected-current electrical impedance tomography (EIT). In this study, the surface measurements are simulated by using a numerical thorax model. The data are perturbed with additive instrumentation noise. Simulated surface measurements are then used to estimate the tissue resistivities by using the proposed algorithm. The results are compared with the results of conventional least squares error estimator (LSEE). Depending on the region, the MiMSEE yields an estimation error between 0.42% and 31.3% compared with 7.12% to 2010% for the LSEE. It is shown that the MiMSEE is quite robust even in the case of geometrical uncertainties.

Object Based Building Extraction and Building Period Estimation from Unmanned Aerial Vehicle Data

NASA Astrophysics Data System (ADS)

Comert, Resul; Kaplan, Onur

2018-04-01

The aim of this study is to examine whether it is possible to estimate the building periods with respect to the building heights in the urban scale seismic performance assessment studies by using the building height retrieved from the unmanned aerial vehicle (UAV) data. For this purpose, a small area, which includes eight residential reinforced concrete buildings, was selected in Eskisehir (Turkey) city center. In this paper, the possibilities of obtaining the building heights that are used in the estimation of building periods from UAV based data, have been investigated. The investigations were carried out in 3 stages; (i) Building boundary extraction with Object Based Image Analysis (OBIA), (ii) height calculation for buildings of interest from nDSM and accuracy assessment with the terrestrial survey. (iii) Estimation of building period using height information. The average difference between the periods estimated according to the heights obtained from field measurements and from the UAV data is 2.86 % and the maximum difference is 13.2 %. Results of this study have shown that the building heights retrieved from the UAV data can be used in the building period estimation in the urban scale vulnerability assessments.

[IR spectral-analysis-based range estimation for an object with small temperature difference from background].

PubMed

Fu, Xiao-Ning; Wang, Jie; Yang, Lin

2013-01-01

It is a typical passive ranging technology that estimation of distance of an object is based on transmission characteristic of infrared radiation, it is also a hotspot in electro-optic countermeasures. Because of avoiding transmitting energy in the detection, this ranging technology will significantly enhance the penetration capability and infrared conceal capability of the missiles or unmanned aerial vehicles. With the current situation in existing passive ranging system, for overcoming the shortage in ranging an oncoming target object with small temperature difference from background, an improved distance estimation scheme was proposed. This article begins with introducing the concept of signal transfer function, makes clear the working curve of current algorithm, and points out that the estimated distance is not unique due to inherent nonlinearity of the working curve. A new distance calculation algorithm was obtained through nonlinear correction technique. It is a ranging formula by using sensing information at 3-5 and 8-12 microm combined with background temperature and field meteorological conditions. The authors' study has shown that the ranging error could be mainly kept around the level of 10% under the condition of the target and background apparent temperature difference equal to +/- 5 K, and the error in estimating background temperature is no more than +/- 15 K.

Vector Observation-Aided/Attitude-Rate Estimation Using Global Positioning System Signals

NASA Technical Reports Server (NTRS)

Oshman, Yaakov; Markley, F. Landis

1997-01-01

A sequential filtering algorithm is presented for attitude and attitude-rate estimation from Global Positioning System (GPS) differential carrier phase measurements. A third-order, minimal-parameter method for solving the attitude matrix kinematic equation is used to parameterize the filter's state, which renders the resulting estimator computationally efficient. Borrowing from tracking theory concepts, the angular acceleration is modeled as an exponentially autocorrelated stochastic process, thus avoiding the use of the uncertain spacecraft dynamic model. The new formulation facilitates the use of aiding vector observations in a unified filtering algorithm, which can enhance the method's robustness and accuracy. Numerical examples are used to demonstrate the performance of the method.

Estimation of lung tumor position from multiple anatomical features on 4D-CT using multiple regression analysis.

PubMed

Ono, Tomohiro; Nakamura, Mitsuhiro; Hirose, Yoshinori; Kitsuda, Kenji; Ono, Yuka; Ishigaki, Takashi; Hiraoka, Masahiro

2017-09-01

To estimate the lung tumor position from multiple anatomical features on four-dimensional computed tomography (4D-CT) data sets using single regression analysis (SRA) and multiple regression analysis (MRA) approach and evaluate an impact of the approach on internal target volume (ITV) for stereotactic body radiotherapy (SBRT) of the lung. Eleven consecutive lung cancer patients (12 cases) underwent 4D-CT scanning. The three-dimensional (3D) lung tumor motion exceeded 5 mm. The 3D tumor position and anatomical features, including lung volume, diaphragm, abdominal wall, and chest wall positions, were measured on 4D-CT images. The tumor position was estimated by SRA using each anatomical feature and MRA using all anatomical features. The difference between the actual and estimated tumor positions was defined as the root-mean-square error (RMSE). A standard partial regression coefficient for the MRA was evaluated. The 3D lung tumor position showed a high correlation with the lung volume (R = 0.92 ± 0.10). Additionally, ITVs derived from SRA and MRA approaches were compared with ITV derived from contouring gross tumor volumes on all 10 phases of the 4D-CT (conventional ITV). The RMSE of the SRA was within 3.7 mm in all directions. Also, the RMSE of the MRA was within 1.6 mm in all directions. The standard partial regression coefficient for the lung volume was the largest and had the most influence on the estimated tumor position. Compared with conventional ITV, average percentage decrease of ITV were 31.9% and 38.3% using SRA and MRA approaches, respectively. The estimation accuracy of lung tumor position was improved by the MRA approach, which provided smaller ITV than conventional ITV. © 2017 The Authors. Journal of Applied Clinical Medical Physics published by Wiley Periodicals, Inc. on behalf of American Association of Physicists in Medicine.

Estimation of the object orientation and location with the use of MEMS sensors

NASA Astrophysics Data System (ADS)

Sawicki, Aleksander; Walendziuk, Wojciech; Idzkowski, Adam

2015-09-01

The article presents the implementation of the estimation algorithms of orientation in 3D space and the displacement of an object in a 2D space. Moreover, a general orientation storage methods using Euler angles, quaternion and rotation matrix are presented. The experimental part presents the results of the complementary filter implementation. In the study experimental microprocessor module based on STM32f4 Discovery system and myRIO hardware platform equipped with FPGA were used. The attempt to track an object in two-dimensional space, which are showed in the final part of this article, were made with the use of the equipment mentioned above.

Effects of Implied Motion and Facing Direction on Positional Preferences in Single-Object Pictures.

PubMed

Palmer, Stephen E; Langlois, Thomas A

2017-07-01

Palmer, Gardner, and Wickens studied aesthetic preferences for pictures of single objects and found a strong inward bias: Right-facing objects were preferred left-of-center and left-facing objects right-of-center. They found no effect of object motion (people and cars showed the same inward bias as chairs and teapots), but the objects were not depicted as moving. Here we measured analogous inward biases with objects depicted as moving with an implied direction and speed by having participants drag-and-drop target objects into the most aesthetically pleasing position. In Experiment 1, human figures were shown diving or falling while moving forward or backward. Aesthetic biases were evident for both inward-facing and inward-moving figures, but the motion-based bias dominated so strongly that backward divers or fallers were preferred moving inward but facing outward. Experiment 2 investigated implied speed effects using images of humans, horses, and cars moving at different speeds (e.g., standing, walking, trotting, and galloping horses). Inward motion or facing biases were again present, and differences in their magnitude due to speed were evident. Unexpectedly, faster moving objects were generally preferred closer to frame center than slower moving objects. These results are discussed in terms of the combined effects of prospective, future-oriented biases, and retrospective, past-oriented biases.

Consistent latent position estimation and vertex classification for random dot product graphs.

PubMed

Sussman, Daniel L; Tang, Minh; Priebe, Carey E

2014-01-01

In this work, we show that using the eigen-decomposition of the adjacency matrix, we can consistently estimate latent positions for random dot product graphs provided the latent positions are i.i.d. from some distribution. If class labels are observed for a number of vertices tending to infinity, then we show that the remaining vertices can be classified with error converging to Bayes optimal using the $(k)$-nearest-neighbors classification rule. We evaluate the proposed methods on simulated data and a graph derived from Wikipedia.

Analysis of the Bayesian Cramér-Rao lower bound in astrometry. Studying the impact of prior information in the location of an object

NASA Astrophysics Data System (ADS)

Echeverria, Alex; Silva, Jorge F.; Mendez, Rene A.; Orchard, Marcos

2016-10-01

Context. The best precision that can be achieved to estimate the location of a stellar-like object is a topic of permanent interest in the astrometric community. Aims: We analyze bounds for the best position estimation of a stellar-like object on a CCD detector array in a Bayesian setting where the position is unknown, but where we have access to a prior distribution. In contrast to a parametric setting where we estimate a parameter from observations, the Bayesian approach estimates a random object (I.e., the position is a random variable) from observations that are statistically dependent on the position. Methods: We characterize the Bayesian Cramér-Rao (CR) that bounds the minimum mean square error (MMSE) of the best estimator of the position of a point source on a linear CCD-like detector, as a function of the properties of detector, the source, and the background. Results: We quantify and analyze the increase in astrometric performance from the use of a prior distribution of the object position, which is not available in the classical parametric setting. This gain is shown to be significant for various observational regimes, in particular in the case of faint objects or when the observations are taken under poor conditions. Furthermore, we present numerical evidence that the MMSE estimator of this problem tightly achieves the Bayesian CR bound. This is a remarkable result, demonstrating that all the performance gains presented in our analysis can be achieved with the MMSE estimator. Conclusions: The Bayesian CR bound can be used as a benchmark indicator of the expected maximum positional precision of a set of astrometric measurements in which prior information can be incorporated. This bound can be achieved through the conditional mean estimator, in contrast to the parametric case where no unbiased estimator precisely reaches the CR bound.

Categorical spatial memory in patients with mild cognitive impairment and Alzheimer dementia: positional versus object-location recall.

PubMed

Kessels, Roy P C; Rijken, Stefan; Joosten-Weyn Banningh, Liesbeth W A; Van Schuylenborgh-VAN Es, Nelleke; Olde Rikkert, Marcel G M

2010-01-01

Memory for object locations, as part of spatial memory function, has rarely been studied in patients with Alzheimer dementia (AD), while studies in patients with Mild Cognitive Impairment (MCI) patients are lacking altogether. The present study examined categorical spatial memory function using the Location Learning Test (LLT) in MCI patients (n = 30), AD patients (n = 30), and healthy controls (n = 40). Two scoring methods were compared, aimed at disentangling positional recall (location irrespective of object identity) and object-location binding. The results showed that AD patients performed worse than the MCI patients on the LLT, both on recall of positional information and on recall of the locations of different objects. In addition, both measures could validly discriminate between AD and MCI patients. These findings are in agreement with the notion that visual cued-recall tests may have better diagnostic value than traditional (verbal) free-recall tests in the assessment of patients with suspected MCI or AD.

Intuitive Terrain Reconstruction Using Height Observation-Based Ground Segmentation and 3D Object Boundary Estimation

PubMed Central

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

2012-01-01

Mobile robot operators must make rapid decisions based on information about the robot’s surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot’s array of sensors, but some upper parts of objects are beyond the sensors’ measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances. PMID:23235454

Intuitive terrain reconstruction using height observation-based ground segmentation and 3D object boundary estimation.

PubMed

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

2012-12-12

Mobile robot operators must make rapid decisions based on information about the robot's surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot's array of sensors, but some upper parts of objects are beyond the sensors' measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances.

Drift-Free Position Estimation of Periodic or Quasi-Periodic Motion Using Inertial Sensors

PubMed Central

Latt, Win Tun; Veluvolu, Kalyana Chakravarthy; Ang, Wei Tech

2011-01-01

Position sensing with inertial sensors such as accelerometers and gyroscopes usually requires other aided sensors or prior knowledge of motion characteristics to remove position drift resulting from integration of acceleration or velocity so as to obtain accurate position estimation. A method based on analytical integration has previously been developed to obtain accurate position estimate of periodic or quasi-periodic motion from inertial sensors using prior knowledge of the motion but without using aided sensors. In this paper, a new method is proposed which employs linear filtering stage coupled with adaptive filtering stage to remove drift and attenuation. The prior knowledge of the motion the proposed method requires is only approximate band of frequencies of the motion. Existing adaptive filtering methods based on Fourier series such as weighted-frequency Fourier linear combiner (WFLC), and band-limited multiple Fourier linear combiner (BMFLC) are modified to combine with the proposed method. To validate and compare the performance of the proposed method with the method based on analytical integration, simulation study is performed using periodic signals as well as real physiological tremor data, and real-time experiments are conducted using an ADXL-203 accelerometer. Results demonstrate that the performance of the proposed method outperforms the existing analytical integration method. PMID:22163935

An objective estimate of energy intake during weight gain using the intake-balance method123

PubMed Central

Gilmore, L Anne; Ravussin, Eric; Bray, George A; Han, Hongmei; Redman, Leanne M

2014-01-01

Background: Estimates of energy intake (EI) in humans have limited validity. Objective: The objective was to test the accuracy and precision of the intake-balance method to estimate EI during weight gain induced by overfeeding. Design: In 2 studies of controlled overfeeding (1 inpatient study and 1 outpatient study), baseline energy requirements were determined by a doubly labeled water study and caloric titration to weight maintenance. Overfeeding was prescribed as 140% of baseline energy requirements for 56 d. Changes in weight, fat mass (FM), and fat-free mass (FFM) were used to estimate change in energy stores (ΔES). Overfeeding EI was estimated as the sum of baseline energy requirements, thermic effect of food, and ΔES. The estimated overfeeding EI was then compared with the actual EI consumed in the metabolic chamber during the last week of overfeeding. Results: In inpatient individuals, calculated EI during overfeeding determined from ΔES in FM and FFM was (mean ± SD) 3461 ± 848 kcal/d, which was not significantly (−29 ± 273 kcal/d or 0.8%; limits of agreement: −564, 505 kcal/d; P = 0.78) different from the actual EI provided (3490 ± 729 kcal/d). Estimated EI determined from ΔES in weight closely estimated actual intake (−7 ± 193 kcal/d or 0.2%; limits of agreement: −386, 370 kcal/d; P = 0.9). In free-living individuals, estimated EI during overfeeding determined from ΔES in FM and FFM was 4123 ± 500 kcal/d and underestimated actual EI (4286 ± 488 kcal/d; −162 ± 301 kcal or 3.8%; limits of agreement: −751, 427 kcal/d; P = 0.003). Estimated EI determined from ΔES in weight also underestimated actual intake (−159 ± 270 kcal/d or 3.7%; limits of agreement: −688, 370 kcal/d; P = 0.001). Conclusion: The intake-balance method can be used to estimate EI during a period of weight gain as a result of 40% overfeeding in individuals who are inpatients or free-living with only a slight underestimate of actual EI by 0.2–3.8%. This trial

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 ).

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.

Optimization of training periods for the estimation model of three-dimensional target positions using an external respiratory surrogate.

PubMed

Iramina, Hiraku; Nakamura, Mitsuhiro; Iizuka, Yusuke; Mitsuyoshi, Takamasa; Matsuo, Yukinori; Mizowaki, Takashi; Kanno, Ikuo

2018-04-19

During therapeutic beam irradiation, an unvisualized three-dimensional (3D) target position should be estimated using an external surrogate with an estimation model. Training periods for the developed model with no additional imaging during beam irradiation were optimized using clinical data. Dual-source 4D-CBCT projection data for 20 lung cancer patients were used for validation. Each patient underwent one to three scans. The actual target positions of each scan were equally divided into two equal parts: one for the modeling and the other for the validating session. A quadratic target position estimation equation was constructed during the modeling session. Various training periods for the session-i.e., modeling periods (T M )-were employed: T M  ∈ {5,10,15,25,35} [s]. First, the equation was used to estimate target positions in the validating session of the same scan (intra-scan estimations). Second, the equation was then used to estimate target positions in the validating session of another temporally different scan (inter-scan estimations). The baseline drift of the surrogate and target between scans was corrected. Various training periods for the baseline drift correction-i.e., correction periods (T C s)-were employed: T C  ∈ {5,10,15; T C  ≤ T M } [s]. Evaluations were conducted with and without the correction. The difference between the actual and estimated target positions was evaluated by the root-mean-square error (RMSE). The range of mean respiratory period and 3D motion amplitude of the target was 2.4-13.0 s and 2.8-34.2 mm, respectively. On intra-scan estimation, the median 3D RMSE was within 1.5-2.1 mm, supported by previous studies. On inter-scan estimation, median elapsed time between scans was 10.1 min. All T M s exhibited 75th percentile 3D RMSEs of 5.0-6.4 mm due to baseline drift of the surrogate and the target. After the correction, those for each T M s fell by 1.4-2.3 mm. The median 3D RMSE for both the 10-s T M and

Cone of Darkness: Finding Blank-sky Positions for Multi-object Wide-field Observations

NASA Astrophysics Data System (ADS)

Lorente, N. P. F.

2014-05-01

We present the Cone of Darkness, an application to automatically configure blank-sky positions for a series of stacked, wide-field observations, such as those carried out by the SAMI instrument on the Anglo-Australian Telescope (AAT). The Sydney-AAO Multi-object Integral field spectrograph (SAMI) uses a plug-plate to mount its 13×61 core imaging fibre bundles (hexabundles) in the optical plane at the telescope's prime focus. To make the most efficient use of each plug-plate, several observing fields are typically stacked to produce a single plate. When choosing blank-sky positions for the observations it is most effective to select these such that one set of 26 holes gives valid sky positions for all fields on the plate. However, when carried out manually this selection process is tedious and includes a significant risk of error. The Cone of Darkness software aims to provide uniform blank-sky position coverage over the field of observation, within the limits set by the distribution of target positions and the chosen input catalogs. This will then facilitate the production of the best representative median sky spectrum for use in sky subtraction. The application, written in C++, is configurable, making it usable for a range of instruments. Given the plate characteristics and the positions of target holes, the software segments the unallocated space on the plate and determines the position which best fits the uniform distribution requirement. This position is checked, for each field, against the selected catalog using a TAP ADQL search. The process is then repeated until the desired number of sky positions is attained.

Dynamic modelling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm

NASA Astrophysics Data System (ADS)

Montazeri, A.; West, C.; Monk, S. D.; Taylor, C. J.

2017-04-01

This paper concerns the problem of dynamic modelling and parameter estimation for a seven degree of freedom hydraulic manipulator. The laboratory example is a dual-manipulator mobile robotic platform used for research into nuclear decommissioning. In contrast to earlier control model-orientated research using the same machine, the paper develops a nonlinear, mechanistic simulation model that can subsequently be used to investigate physically meaningful disturbances. The second contribution is to optimise the parameters of the new model, i.e. to determine reliable estimates of the physical parameters of a complex robotic arm which are not known in advance. To address the nonlinear and non-convex nature of the problem, the research relies on the multi-objectivisation of an output error single-performance index. The developed algorithm utilises a multi-objective genetic algorithm (GA) in order to find a proper solution. The performance of the model and the GA is evaluated using both simulated (i.e. with a known set of 'true' parameters) and experimental data. Both simulation and experimental results show that multi-objectivisation has improved convergence of the estimated parameters compared to the single-objective output error problem formulation. This is achieved by integrating the validation phase inside the algorithm implicitly and exploiting the inherent structure of the multi-objective GA for this specific system identification problem.

High-performance object tracking and fixation with an online neural estimator.

PubMed

Kumarawadu, Sisil; Watanabe, Keigo; Lee, Tsu-Tian

2007-02-01

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.

Sizing Up Objects: The Effect of Diminutive Forms on Positive Mood, Value, and Size Judgments

PubMed Central

Parzuchowski, Michał; Bocian, Konrad; Gygax, Pascal

2016-01-01

Language (e.g., structure, morphology, and wording) can direct our attention toward the specific properties of an object, in turn influencing the mental representation of that same object. In this paper, we examined this idea by focusing on a particular linguistic form of diminution used in many languages (e.g., in Polish, Spanish, and Portuguese) to refer to an object as being “smaller.” Interestingly, although objects are usually considered “better” when they are bigger in size, objects described with linguistic diminution can also refer to those that are emotionally positive. Across three experiments conducted in Polish, we examined this lexical ambiguity in terms of mood (Experiment 1), subjective quality and monetary value (Experiment 2), and choice selection (Experiment 3). Overall, we found that people evaluate objects differently depending on the linguistic form (i.e., with or without diminution) with which they are described, and that it was related to the perceptual representation of these objects, and not their affective status. Objects described with diminution are evaluated as less satisfying and of lesser value and this effect is attributed to the way participants represent the objects (i.e., encoded and memorized). The generalizability of these effects is discussed. PMID:27721802

An Upper Bound on High Speed Satellite Collision Probability When Only One Object has Position Uncertainty Information

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2015-01-01

Upper bounds on high speed satellite collision probability, PC †, have been investigated. Previous methods assume an individual position error covariance matrix is available for each object. The two matrices being combined into a single, relative position error covariance matrix. Components of the combined error covariance are then varied to obtain a maximum PC. If error covariance information for only one of the two objects was available, either some default shape has been used or nothing could be done. An alternative is presented that uses the known covariance information along with a critical value of the missing covariance to obtain an approximate but potentially useful Pc upper bound.

Maximum likelihood estimation in calibrating a stereo camera setup.

PubMed

Muijtjens, A M; Roos, J M; Arts, T; Hasman, A

1999-02-01

Motion and deformation of the cardiac wall may be measured by following the positions of implanted radiopaque markers in three dimensions, using two x-ray cameras simultaneously. Regularly, calibration of the position measurement system is obtained by registration of the images of a calibration object, containing 10-20 radiopaque markers at known positions. Unfortunately, an accidental change of the position of a camera after calibration requires complete recalibration. Alternatively, redundant information in the measured image positions of stereo pairs can be used for calibration. Thus, a separate calibration procedure can be avoided. In the current study a model is developed that describes the geometry of the camera setup by five dimensionless parameters. Maximum Likelihood (ML) estimates of these parameters were obtained in an error analysis. It is shown that the ML estimates can be found by application of a nonlinear least squares procedure. Compared to the standard unweighted least squares procedure, the ML method resulted in more accurate estimates without noticeable bias. The accuracy of the ML method was investigated in relation to the object aperture. The reconstruction problem appeared well conditioned as long as the object aperture is larger than 0.1 rad. The angle between the two viewing directions appeared to be the parameter that was most likely to cause major inaccuracies in the reconstruction of the 3-D positions of the markers. Hence, attempts to improve the robustness of the method should primarily focus on reduction of the error in this parameter.

Optical Coherence Tomography Based Estimates of Crystalline Lens Volume, Equatorial Diameter, and Plane Position.

PubMed

Martinez-Enriquez, Eduardo; Sun, Mengchan; Velasco-Ocana, Miriam; Birkenfeld, Judith; Pérez-Merino, Pablo; Marcos, Susana

2016-07-01

Measurement of crystalline lens geometry in vivo is critical to optimize performance of state-of-the-art cataract surgery. We used custom-developed quantitative anterior segment optical coherence tomography (OCT) and developed dedicated algorithms to estimate lens volume (VOL), equatorial diameter (DIA), and equatorial plane position (EPP). The method was validated ex vivo in 27 human donor (19-71 years of age) lenses, which were imaged in three-dimensions by OCT. In vivo conditions were simulated assuming that only the information within a given pupil size (PS) was available. A parametric model was used to estimate the whole lens shape from PS-limited data. The accuracy of the estimated lens VOL, DIA, and EPP was evaluated by comparing estimates from the whole lens data and PS-limited data ex vivo. The method was demonstrated in vivo using 2 young eyes during accommodation and 2 cataract eyes. Crystalline lens VOL was estimated within 96% accuracy (average estimation error across lenses ± standard deviation: 9.30 ± 7.49 mm3). Average estimation errors in EPP were below 40 ± 32 μm, and below 0.26 ± 0.22 mm in DIA. Changes in lens VOL with accommodation were not statistically significant (2-way ANOVA, P = 0.35). In young eyes, DIA decreased and EPP increased statistically significantly with accommodation (P < 0.001) by 0.14 mm and 0.13 mm, respectively, on average across subjects. In cataract eyes, VOL = 205.5 mm3, DIA = 9.57 mm, and EPP = 2.15 mm on average. Quantitative OCT with dedicated image processing algorithms allows estimation of human crystalline lens volume, diameter, and equatorial lens position, as validated from ex vivo measurements, where entire lens images are available.

Sex and spatial position effects on object location memory following intentional learning of object identities.

PubMed

Alexander, Gerianne M; Packard, Mark G; Peterson, Bradley S

2002-01-01

Memory for object location relative both to veridical center (left versus right visual hemispace) and to eccentricity (central versus peripheral objects) was measured in 26 males and 25 females using the Silverman and Eals Location Memory Task. A subset of participants (17 males and 13 females) also completed a measure of implicit learning, the mirror-tracing task. No sex differences were observed in memory for object identities. Further, in both sexes, memory for object locations was better for peripherally located objects than for centrally located objects. In contrast to these similarities in female and male task performance, females but not males showed better recovery of object locations in the right compared to the left visual hemispace. Moreover, memory for object locations in the right hemispace was associated with mirror-tracing performance in women but not in men. Together, these data suggest that the processing of object features and object identification in the left cerebral hemisphere may include processing of spatial information that may contribute to superior object location memory in females relative to males.

Satellite-map position estimation for the Mars rover

NASA Technical Reports Server (NTRS)

Hayashi, Akira; Dean, Thomas

1989-01-01

A method for locating the Mars rover using an elevation map generated from satellite data is described. In exploring its environment, the rover is assumed to generate a local rover-centered elevation map that can be used to extract information about the relative position and orientation of landmarks corresponding to local maxima. These landmarks are integrated into a stochastic map which is then matched with the satellite map to obtain an estimate of the robot's current location. The landmarks are not explicitly represented in the satellite map. The results of the matching algorithm correspond to a probabilistic assessment of whether or not the robot is located within a given region of the satellite map. By assigning a probabilistic interpretation to the information stored in the satellite map, researchers are able to provide a precise characterization of the results computed by the matching algorithm.

Comparison of CKD-EPI and MDRD to estimate baseline renal function in HIV-positive patients.

PubMed

Ibrahim, Fowzia; Hamzah, Lisa; Jones, Rachael; Nitsch, Dorothea; Sabin, Caroline; Post, Frank A

2012-06-01

Renal dysfunction is common in HIV-positive patients, and guidelines suggest regular monitoring of renal function with estimated glomerular filtration rate (eGFR) and urinalysis. It is unknown whether Chronic Kidney Disease Epidemiological Collaboration (CKD-EPI) or Modification of Diet in Renal Disease (MDRD) provide better estimates of glomerular filtration rate (GFR) in this population. We compared the CKD-EPI and MDRD equations to estimate GFR at baseline in 20,132 HIV-positive individuals in the UK CHIC cohort. Kappa statistics and Bland-Altman plots were used to assess agreement between the two estimates and Kaplan-Meier plots and Cox regression analysis to describe mortality patterns. At baseline, median eGFR was 100 (87, 112) (CKD-EPI) and 94 (83, 108) (MDRD) (mL/min/1.73 m(2)). Good overall agreement between CKD-EPI- and MDRD-defined eGFR bands was observed (Kappa = 0.71, 95% confidence interval: 0.70-0.72). Of the 367 patients with eGFR MDRD 30-59, 57 (15.5%) were categorized as eGFR 60-89 by CKD-EPI. After adjustment for covariates, eGFR <60 (CKD-EPI), eGFR <30 (MDRD) and eGFR ≥105 (both formulae) were significantly associated with an increased risk of death. Mortality in patients classified as having eGFR 60-89 by CKD-EPI and eGFR 30-59 by MDRD more closely resembled mortality of patients who had eGFR 60-89 by both formulae. MDRD and CKD-EPI equations showed a high degree of agreement in stratifying patients by baseline eGFR. CKD-EPI estimates of GFR <60 at baseline are more strongly associated with mortality than MDRD estimates of GFR <60, supporting the concept that MDRD may have overestimated the severity of renal impairment in these patients. Our findings support the use of CKD-EPI in HIV-positive individuals.

Noise and analyzer-crystal angular position analysis for analyzer-based phase-contrast imaging

NASA Astrophysics Data System (ADS)

Majidi, Keivan; Li, Jun; Muehleman, Carol; Brankov, Jovan G.

2014-04-01

The analyzer-based phase-contrast x-ray imaging (ABI) method is emerging as a potential alternative to conventional radiography. Like many of the modern imaging techniques, ABI is a computed imaging method (meaning that images are calculated from raw data). ABI can simultaneously generate a number of planar parametric images containing information about absorption, refraction, and scattering properties of an object. These images are estimated from raw data acquired by measuring (sampling) the angular intensity profile of the x-ray beam passed through the object at different angular positions of the analyzer crystal. The noise in the estimated ABI parametric images depends upon imaging conditions like the source intensity (flux), measurements angular positions, object properties, and the estimation method. In this paper, we use the Cramér-Rao lower bound (CRLB) to quantify the noise properties in parametric images and to investigate the effect of source intensity, different analyzer-crystal angular positions and object properties on this bound, assuming a fixed radiation dose delivered to an object. The CRLB is the minimum bound for the variance of an unbiased estimator and defines the best noise performance that one can obtain regardless of which estimation method is used to estimate ABI parametric images. The main result of this paper is that the variance (hence the noise) in parametric images is directly proportional to the source intensity and only a limited number of analyzer-crystal angular measurements (eleven for uniform and three for optimal non-uniform) are required to get the best parametric images. The following angular measurements only spread the total dose to the measurements without improving or worsening CRLB, but the added measurements may improve parametric images by reducing estimation bias. Next, using CRLB we evaluate the multiple-image radiography, diffraction enhanced imaging and scatter diffraction enhanced imaging estimation techniques

Noise and Analyzer-Crystal Angular Position Analysis for Analyzer-Based Phase-Contrast Imaging

PubMed Central

Majidi, Keivan; Li, Jun; Muehleman, Carol; Brankov, Jovan G.

2014-01-01

The analyzer-based phase-contrast X-ray imaging (ABI) method is emerging as a potential alternative to conventional radiography. Like many of the modern imaging techniques, ABI is a computed imaging method (meaning that images are calculated from raw data). ABI can simultaneously generate a number of planar parametric images containing information about absorption, refraction, and scattering properties of an object. These images are estimated from raw data acquired by measuring (sampling) the angular intensity profile (AIP) of the X-ray beam passed through the object at different angular positions of the analyzer crystal. The noise in the estimated ABI parametric images depends upon imaging conditions like the source intensity (flux), measurements angular positions, object properties, and the estimation method. In this paper, we use the Cramér-Rao lower bound (CRLB) to quantify the noise properties in parametric images and to investigate the effect of source intensity, different analyzer-crystal angular positions and object properties on this bound, assuming a fixed radiation dose delivered to an object. The CRLB is the minimum bound for the variance of an unbiased estimator and defines the best noise performance that one can obtain regardless of which estimation method is used to estimate ABI parametric images. The main result of this manuscript is that the variance (hence the noise) in parametric images is directly proportional to the source intensity and only a limited number of analyzer-crystal angular measurements (eleven for uniform and three for optimal non-uniform) are required to get the best parametric images. The following angular measurements only spread the total dose to the measurements without improving or worsening CRLB, but the added measurements may improve parametric images by reducing estimation bias. Next, using CRLB we evaluate the Multiple-Image Radiography (MIR), Diffraction Enhanced Imaging (DEI) and Scatter Diffraction Enhanced Imaging (S

Impact of bowtie filter and object position on the two-dimensional noise power spectrum of a clinical MDCT system.

PubMed

Gomez-Cardona, Daniel; Cruz-Bastida, Juan Pablo; Li, Ke; Budde, Adam; Hsieh, Jiang; Chen, Guang-Hong

2016-08-01

Noise characteristics of clinical multidetector CT (MDCT) systems can be quantified by the noise power spectrum (NPS). Although the NPS of CT has been extensively studied in the past few decades, the joint impact of the bowtie filter and object position on the NPS has not been systematically investigated. This work studies the interplay of these two factors on the two dimensional (2D) local NPS of a clinical CT system that uses the filtered backprojection algorithm for image reconstruction. A generalized NPS model was developed to account for the impact of the bowtie filter and image object location in the scan field-of-view (SFOV). For a given bowtie filter, image object, and its location in the SFOV, the shape and rotational symmetries of the 2D local NPS were directly computed from the NPS model without going through the image reconstruction process. The obtained NPS was then compared with the measured NPSs from the reconstructed noise-only CT images in both numerical phantom simulation studies and experimental phantom studies using a clinical MDCT scanner. The shape and the associated symmetry of the 2D NPS were classified by borrowing the well-known atomic spectral symbols s, p, and d, which correspond to circular, dumbbell, and cloverleaf symmetries, respectively, of the wave function of electrons in an atom. Finally, simulated bar patterns were embedded into experimentally acquired noise backgrounds to demonstrate the impact of different NPS symmetries on the visual perception of the object. (1) For a central region in a centered cylindrical object, an s-wave symmetry was always present in the NPS, no matter whether the bowtie filter was present or not. In contrast, for a peripheral region in a centered object, the symmetry of its NPS was highly dependent on the bowtie filter, and both p-wave symmetry and d-wave symmetry were observed in the NPS. (2) For a centered region-ofinterest (ROI) in an off-centered object, the symmetry of its NPS was found to be

Impact of bowtie filter and object position on the two-dimensional noise power spectrum of a clinical MDCT system

PubMed Central

Gomez-Cardona, Daniel; Cruz-Bastida, Juan Pablo; Li, Ke; Budde, Adam; Hsieh, Jiang; Chen, Guang-Hong

2016-01-01

Purpose: Noise characteristics of clinical multidetector CT (MDCT) systems can be quantified by the noise power spectrum (NPS). Although the NPS of CT has been extensively studied in the past few decades, the joint impact of the bowtie filter and object position on the NPS has not been systematically investigated. This work studies the interplay of these two factors on the two dimensional (2D) local NPS of a clinical CT system that uses the filtered backprojection algorithm for image reconstruction. Methods: A generalized NPS model was developed to account for the impact of the bowtie filter and image object location in the scan field-of-view (SFOV). For a given bowtie filter, image object, and its location in the SFOV, the shape and rotational symmetries of the 2D local NPS were directly computed from the NPS model without going through the image reconstruction process. The obtained NPS was then compared with the measured NPSs from the reconstructed noise-only CT images in both numerical phantom simulation studies and experimental phantom studies using a clinical MDCT scanner. The shape and the associated symmetry of the 2D NPS were classified by borrowing the well-known atomic spectral symbols s, p, and d, which correspond to circular, dumbbell, and cloverleaf symmetries, respectively, of the wave function of electrons in an atom. Finally, simulated bar patterns were embedded into experimentally acquired noise backgrounds to demonstrate the impact of different NPS symmetries on the visual perception of the object. Results: (1) For a central region in a centered cylindrical object, an s-wave symmetry was always present in the NPS, no matter whether the bowtie filter was present or not. In contrast, for a peripheral region in a centered object, the symmetry of its NPS was highly dependent on the bowtie filter, and both p-wave symmetry and d-wave symmetry were observed in the NPS. (2) For a centered region-ofinterest (ROI) in an off-centered object, the symmetry of

Impact of bowtie filter and object position on the two-dimensional noise power spectrum of a clinical MDCT system

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

Gomez-Cardona, Daniel; Cruz-Bastida, Juan Pablo

2016-08-15

Purpose: Noise characteristics of clinical multidetector CT (MDCT) systems can be quantified by the noise power spectrum (NPS). Although the NPS of CT has been extensively studied in the past few decades, the joint impact of the bowtie filter and object position on the NPS has not been systematically investigated. This work studies the interplay of these two factors on the two dimensional (2D) local NPS of a clinical CT system that uses the filtered backprojection algorithm for image reconstruction. Methods: A generalized NPS model was developed to account for the impact of the bowtie filter and image object locationmore » in the scan field-of-view (SFOV). For a given bowtie filter, image object, and its location in the SFOV, the shape and rotational symmetries of the 2D local NPS were directly computed from the NPS model without going through the image reconstruction process. The obtained NPS was then compared with the measured NPSs from the reconstructed noise-only CT images in both numerical phantom simulation studies and experimental phantom studies using a clinical MDCT scanner. The shape and the associated symmetry of the 2D NPS were classified by borrowing the well-known atomic spectral symbols s, p, and d, which correspond to circular, dumbbell, and cloverleaf symmetries, respectively, of the wave function of electrons in an atom. Finally, simulated bar patterns were embedded into experimentally acquired noise backgrounds to demonstrate the impact of different NPS symmetries on the visual perception of the object. Results: (1) For a central region in a centered cylindrical object, an s-wave symmetry was always present in the NPS, no matter whether the bowtie filter was present or not. In contrast, for a peripheral region in a centered object, the symmetry of its NPS was highly dependent on the bowtie filter, and both p-wave symmetry and d-wave symmetry were observed in the NPS. (2) For a centered region-ofinterest (ROI) in an off-centered object, the

On the representation and estimation of spatial uncertainty. [for mobile robot

NASA Technical Reports Server (NTRS)

Smith, Randall C.; Cheeseman, Peter

1987-01-01

This paper describes a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects. The frames may be known only indirectly through a series of spatial relationships, each with its associated error, arising from diverse causes, including positioning errors, measurement errors, or tolerances in part dimensions. This estimation method can be used to answer such questions as whether a camera attached to a robot is likely to have a particular reference object in its field of view. The calculated estimates agree well with those from an independent Monte Carlo simulation. The method makes it possible to decide in advance whether an uncertain relationship is known accurately enough for some task and, if not, how much of an improvement in locational knowledge a proposed sensor will provide. The method presented can be generalized to six degrees of freedom and provides a practical means of estimating the relationships (position and orientation) among objects, as well as estimating the uncertainty associated with the relationships.

An object-based approach for areal rainfall estimation and validation of atmospheric models

NASA Astrophysics Data System (ADS)

Troemel, Silke; Simmer, Clemens

2010-05-01

An object-based approach for areal rainfall estimation is applied to pseudo-radar data simulated of a weatherforecast model as well as to real radar volume data. The method aims at an as fully as possible exploitation of three-dimensional radar signals produced by precipitation generating systems during their lifetime to enhance areal rainfall estimation. Therefore tracking of radar-detected precipitation-centroids is performed and rain events are investigated using so-called Integral Radar Volume Descriptors (IRVD) containing relevant information of the underlying precipitation process. Some investigated descriptors are statistical quantities from the radar reflectivities within the boundary of a tracked rain cell like the area mean reflectivity or the compactness of a cell; others evaluate the mean vertical structure during the tracking period at the near surface reflectivity-weighted center of the cell like the mean effective efficiency or the mean echo top height. The stage of evolution of a system is given by the trend in the brightband fraction or related quantities. Furthermore, two descriptors not directly derived from radar data are considered: the mean wind shear and an orographic rainfall amplifier. While in case of pseudo-radar data a model based on a small set of IRVDs alone provides rainfall estimates of high accuracy, the application of such a model to the real world remains within the accuracies achievable with a constant Z-R-relationship. However, a combined model based on single IRVDs and the Marshall-Palmer Z-R-estimator already provides considerable enhancements even though the resolution of the data base used has room for improvement. The mean echo top height, the mean effective efficiency, the empirical standard deviation and the Marshall-Palmer estimator are detected for the final rainfall estimator. High correlations between storm height and rain rates, a shift of the probability distribution to higher values with increasing effective

Self-Organizing Map Neural Network-Based Nearest Neighbor Position Estimation Scheme for Continuous Crystal PET Detectors

NASA Astrophysics Data System (ADS)

Wang, Yonggang; Li, Deng; Lu, Xiaoming; Cheng, Xinyi; Wang, Liwei

2014-10-01

Continuous crystal-based positron emission tomography (PET) detectors could be an ideal alternative for current high-resolution pixelated PET detectors if the issues of high performance γ interaction position estimation and its real-time implementation are solved. Unfortunately, existing position estimators are not very feasible for implementation on field-programmable gate array (FPGA). In this paper, we propose a new self-organizing map neural network-based nearest neighbor (SOM-NN) positioning scheme aiming not only at providing high performance, but also at being realistic for FPGA implementation. Benefitting from the SOM feature mapping mechanism, the large set of input reference events at each calibration position is approximated by a small set of prototypes, and the computation of the nearest neighbor searching for unknown events is largely reduced. Using our experimental data, the scheme was evaluated, optimized and compared with the smoothed k-NN method. The spatial resolutions of full-width-at-half-maximum (FWHM) of both methods averaged over the center axis of the detector were obtained as 1.87 ±0.17 mm and 1.92 ±0.09 mm, respectively. The test results show that the SOM-NN scheme has an equivalent positioning performance with the smoothed k-NN method, but the amount of computation is only about one-tenth of the smoothed k-NN method. In addition, the algorithm structure of the SOM-NN scheme is more feasible for implementation on FPGA. It has the potential to realize real-time position estimation on an FPGA with a high-event processing throughput.

A Meta-Analysis of Children's Object-to-Mouth Frequency Data for Estimating Non-Dietary Ingestion Exposure

EPA Science Inventory

To improve estimates of non-dietary ingestion in probabilistic exposure modeling, a meta-analysis of children's object-to-mouth frequency was conducted using data from seven available studies representing 438 participants and ~ 1500 h of behavior observation. The analysis repres...

Bone orientation and position estimation errors using Cosserat point elements and least squares methods: Application to gait.

PubMed

Solav, Dana; Camomilla, Valentina; Cereatti, Andrea; Barré, Arnaud; Aminian, Kamiar; Wolf, Alon

2017-09-06

The aim of this study was to analyze the accuracy of bone pose estimation based on sub-clusters of three skin-markers characterized by triangular Cosserat point elements (TCPEs) and to evaluate the capability of four instantaneous physical parameters, which can be measured non-invasively in vivo, to identify the most accurate TCPEs. Moreover, TCPE pose estimations were compared with the estimations of two least squares minimization methods applied to the cluster of all markers, using rigid body (RBLS) and homogeneous deformation (HDLS) assumptions. Analysis was performed on previously collected in vivo treadmill gait data composed of simultaneous measurements of the gold-standard bone pose by bi-plane fluoroscopy tracking the subjects' knee prosthesis and a stereophotogrammetric system tracking skin-markers affected by soft tissue artifact. Femur orientation and position errors estimated from skin-marker clusters were computed for 18 subjects using clusters of up to 35 markers. Results based on gold-standard data revealed that instantaneous subsets of TCPEs exist which estimate the femur pose with reasonable accuracy (median root mean square error during stance/swing: 1.4/2.8deg for orientation, 1.5/4.2mm for position). A non-invasive and instantaneous criteria to select accurate TCPEs for pose estimation (4.8/7.3deg, 5.8/12.3mm), was compared with RBLS (4.3/6.6deg, 6.9/16.6mm) and HDLS (4.6/7.6deg, 6.7/12.5mm). Accounting for homogeneous deformation, using HDLS or selected TCPEs, yielded more accurate position estimations than RBLS method, which, conversely, yielded more accurate orientation estimations. Further investigation is required to devise effective criteria for cluster selection that could represent a significant improvement in bone pose estimation accuracy. Copyright © 2017 Elsevier Ltd. All rights reserved.

Multiview face detection based on position estimation over multicamera surveillance system

NASA Astrophysics Data System (ADS)

Huang, Ching-chun; Chou, Jay; Shiu, Jia-Hou; Wang, Sheng-Jyh

2012-02-01

In this paper, we propose a multi-view face detection system that locates head positions and indicates the direction of each face in 3-D space over a multi-camera surveillance system. To locate 3-D head positions, conventional methods relied on face detection in 2-D images and projected the face regions back to 3-D space for correspondence. However, the inevitable false face detection and rejection usually degrades the system performance. Instead, our system searches for the heads and face directions over the 3-D space using a sliding cube. Each searched 3-D cube is projected onto the 2-D camera views to determine the existence and direction of human faces. Moreover, a pre-process to estimate the locations of candidate targets is illustrated to speed-up the searching process over the 3-D space. In summary, our proposed method can efficiently fuse multi-camera information and suppress the ambiguity caused by detection errors. Our evaluation shows that the proposed approach can efficiently indicate the head position and face direction on real video sequences even under serious occlusion.

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.

Analysing the Zenith Tropospheric Delay Estimates in On-line Precise Point Positioning (PPP) Services and PPP Software Packages.

PubMed

Mendez Astudillo, Jorge; Lau, Lawrence; Tang, Yu-Ting; Moore, Terry

2018-02-14

As Global Navigation Satellite System (GNSS) signals travel through the troposphere, a tropospheric delay occurs due to a change in the refractive index of the medium. The Precise Point Positioning (PPP) technique can achieve centimeter/millimeter positioning accuracy with only one GNSS receiver. The Zenith Tropospheric Delay (ZTD) is estimated alongside with the position unknowns in PPP. Estimated ZTD can be very useful for meteorological applications, an example is the estimation of water vapor content in the atmosphere from the estimated ZTD. PPP is implemented with different algorithms and models in online services and software packages. In this study, a performance assessment with analysis of ZTD estimates from three PPP online services and three software packages is presented. The main contribution of this paper is to show the accuracy of ZTD estimation achievable in PPP. The analysis also provides the GNSS users and researchers the insight of the processing algorithm dependence and impact on PPP ZTD estimation. Observation data of eight whole days from a total of nine International GNSS Service (IGS) tracking stations spread in the northern hemisphere, the equatorial region and the southern hemisphere is used in this analysis. The PPP ZTD estimates are compared with the ZTD obtained from the IGS tropospheric product of the same days. The estimates of two of the three online PPP services show good agreement (<1 cm) with the IGS ZTD values at the northern and southern hemisphere stations. The results also show that the online PPP services perform better than the selected PPP software packages at all stations.

[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

A novel unscented predictive filter for relative position and attitude estimation of satellite formation

NASA Astrophysics Data System (ADS)

Cao, Lu; Chen, Xiaoqian; Misra, Arun K.

2015-07-01

This paper presents a novel sigma-point unscented predictive filter (UPF) for relative position and attitude estimation of satellite formation taking into account the influence of J2. A coupled relative translational dynamics model is formulated to represent orbital motion of arbitrary feature points on the deputy spacecraft, and the relative attitude motion is formulated by considering a rotational dynamics for a satellite without gyros. Based on the proposed coupled dynamic model, the UPF is developed based on unscented transformation technique, extending the capability of a traditional predictive filter (PF). The algorithm flow of the UPF is described first. Then it is demonstrated that the estimation accuracy of the model error and system state for UPF is higher than that of the traditional PF. In addition, the unscented Kalman filter (UKF) is also employed in order to compare the performance of the proposed UPF with that of the UKF. Several different scenarios are simulated to validate the effectiveness of the coupled dynamics model and the performance of the proposed UPF. Through comparisons, the proposed UPF is shown to yield highly accurate estimation of relative position and attitude during satellite formation flying.

GNSS global real-time augmentation positioning: Real-time precise satellite clock estimation, prototype system construction and performance analysis

NASA Astrophysics Data System (ADS)

Chen, Liang; Zhao, Qile; Hu, Zhigang; Jiang, Xinyuan; Geng, Changjiang; Ge, Maorong; Shi, Chuang

2018-01-01

Lots of ambiguities in un-differenced (UD) model lead to lower calculation efficiency, which isn't appropriate for the high-frequency real-time GNSS clock estimation, like 1 Hz. Mixed differenced model fusing UD pseudo-range and epoch-differenced (ED) phase observations has been introduced into real-time clock estimation. In this contribution, we extend the mixed differenced model for realizing multi-GNSS real-time clock high-frequency updating and a rigorous comparison and analysis on same conditions are performed to achieve the best real-time clock estimation performance taking the efficiency, accuracy, consistency and reliability into consideration. Based on the multi-GNSS real-time data streams provided by multi-GNSS Experiment (MGEX) and Wuhan University, GPS + BeiDou + Galileo global real-time augmentation positioning prototype system is designed and constructed, including real-time precise orbit determination, real-time precise clock estimation, real-time Precise Point Positioning (RT-PPP) and real-time Standard Point Positioning (RT-SPP). The statistical analysis of the 6 h-predicted real-time orbits shows that the root mean square (RMS) in radial direction is about 1-5 cm for GPS, Beidou MEO and Galileo satellites and about 10 cm for Beidou GEO and IGSO satellites. Using the mixed differenced estimation model, the prototype system can realize high-efficient real-time satellite absolute clock estimation with no constant clock-bias and can be used for high-frequency augmentation message updating (such as 1 Hz). The real-time augmentation message signal-in-space ranging error (SISRE), a comprehensive accuracy of orbit and clock and effecting the users' actual positioning performance, is introduced to evaluate and analyze the performance of GPS + BeiDou + Galileo global real-time augmentation positioning system. The statistical analysis of real-time augmentation message SISRE is about 4-7 cm for GPS, whlile 10 cm for Beidou IGSO/MEO, Galileo and about 30 cm

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.

Laser Doppler position sensor for position and shape measurements of fast rotating objects

NASA Astrophysics Data System (ADS)

Czarske, Jürgen; Pfister, Thorsten; Büttner, Lars

2006-08-01

We report about a novel optical method based on laser Doppler velocimetry for position and shape measurements of moved solid state surfaces with approximately one micrometer position resolution. 3D shape measurements of a rotating cylinder inside a turning machine as well as tip clearance measurements at a transonic centrifugal compressor performed during operation at 50,000 rpm and 586 m/s blade tip velocity are presented. All results are in good agreement with conventional reference probes. The measurement accuracy of the laser Doppler position sensor is investigated in dependence of the speckle pattern. Furthermore, it is shown that this sensor offers high temporal resolution and high position resolution simultaneously and that shading can be reduced compared to triangulation. Consequently, the presented laser Doppler position sensor opens up new perspectives in the field of real-time manufacturing metrology and process control, for example controlling the turning and the grinding process or for future developments of turbo machines.

[Metrological analysis of measuring systems in testing an anticipatory reaction to the position of a moving object].

PubMed

Aksiuta, E F; Ostashev, A V; Sergeev, E V; Aksiuta, V E

1997-01-01

The methods of the information (entropy) error theory were used to make a metrological analysis of the well-known commercial measuring systems for timing an anticipative reaction (AR) to the position of a moving object, which is based on the electromechanical, gas-discharge, and electron principles. The required accuracy of measurement was ascertained to be achieved only by using the systems based on the electron principle of moving object simulation and AR measurement.

Searching for and Positioning of Contextualized Learning Objects

ERIC Educational Resources Information Center

Baldiris, Silvia; Graf, Sabine; Fabregat, Ramon; Mendez, Nestor Dario Duque

2012-01-01

Learning object economies are marketplaces for the sharing and reuse of learning objects (LO). There are many motivations for stimulating the development of the LO economy. The main reason is the possibility of providing the right content, at the right time, to the right learner according to adequate quality standards in the context of a lifelong…

Use of the dispersion ratio in estimating the nonlinear properties of an object of diagnosis

NASA Technical Reports Server (NTRS)

Balitskiy, F. Y.; Genkin, M. D.; Ivanova, M. A.; Kobrinskiy, A. A.; Sokolova, A. G.

1973-01-01

An experimental investigation for estimating the nonlinearity of a diagnostic object was carried out on a single-stage, spur gear reducer. The linearity of the properties of spur gearing (including the linearity of its mode of operation) was tested. Torsional vibrations of the driven wheel and transverse (to the meshing plane) vibrations of the drive wheel on its support were taken as the two outputs of the object to be analyzed. The results of the investigation showed that the degree of nonlinearity of a reducing gear is essentially connected with its operating mode, so that different mathematical models of it can correspond to different values of the system parameters.

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.

Multi-class geospatial object detection based on a position-sensitive balancing framework for high spatial resolution remote sensing imagery

NASA Astrophysics Data System (ADS)

Zhong, Yanfei; Han, Xiaobing; Zhang, Liangpei

2018-04-01

Multi-class geospatial object detection from high spatial resolution (HSR) remote sensing imagery is attracting increasing attention in a wide range of object-related civil and engineering applications. However, the distribution of objects in HSR remote sensing imagery is location-variable and complicated, and how to accurately detect the objects in HSR remote sensing imagery is a critical problem. Due to the powerful feature extraction and representation capability of deep learning, the deep learning based region proposal generation and object detection integrated framework has greatly promoted the performance of multi-class geospatial object detection for HSR remote sensing imagery. However, due to the translation caused by the convolution operation in the convolutional neural network (CNN), although the performance of the classification stage is seldom influenced, the localization accuracies of the predicted bounding boxes in the detection stage are easily influenced. The dilemma between translation-invariance in the classification stage and translation-variance in the object detection stage has not been addressed for HSR remote sensing imagery, and causes position accuracy problems for multi-class geospatial object detection with region proposal generation and object detection. In order to further improve the performance of the region proposal generation and object detection integrated framework for HSR remote sensing imagery object detection, a position-sensitive balancing (PSB) framework is proposed in this paper for multi-class geospatial object detection from HSR remote sensing imagery. The proposed PSB framework takes full advantage of the fully convolutional network (FCN), on the basis of a residual network, and adopts the PSB framework to solve the dilemma between translation-invariance in the classification stage and translation-variance in the object detection stage. In addition, a pre-training mechanism is utilized to accelerate the training procedure

Scene and Position Specificity in Visual Memory for Objects

ERIC Educational Resources Information Center

Hollingworth, Andrew

2006-01-01

This study investigated whether and how visual representations of individual objects are bound in memory to scene context. Participants viewed a series of naturalistic scenes, and memory for the visual form of a target object in each scene was examined in a 2-alternative forced-choice test, with the distractor object either a different object…

Object recognition and localization from 3D point clouds by maximum-likelihood estimation

NASA Astrophysics Data System (ADS)

Dantanarayana, Harshana G.; Huntley, Jonathan M.

2017-08-01

We present an algorithm based on maximum-likelihood analysis for the automated recognition of objects, and estimation of their pose, from 3D point clouds. Surfaces segmented from depth images are used as the features, unlike `interest point'-based algorithms which normally discard such data. Compared to the 6D Hough transform, it has negligible memory requirements, and is computationally efficient compared to iterative closest point algorithms. The same method is applicable to both the initial recognition/pose estimation problem as well as subsequent pose refinement through appropriate choice of the dispersion of the probability density functions. This single unified approach therefore avoids the usual requirement for different algorithms for these two tasks. In addition to the theoretical description, a simple 2 degrees of freedom (d.f.) example is given, followed by a full 6 d.f. analysis of 3D point cloud data from a cluttered scene acquired by a projected fringe-based scanner, which demonstrated an RMS alignment error as low as 0.3 mm.

A comparison of correlation-length estimation methods for the objective analysis of surface pollutants at Environment and Climate Change Canada.

PubMed

Ménard, Richard; Deshaies-Jacques, Martin; Gasset, Nicolas

2016-09-01

An objective analysis is one of the main components of data assimilation. By combining observations with the output of a predictive model we combine the best features of each source of information: the complete spatial and temporal coverage provided by models, with a close representation of the truth provided by observations. The process of combining observations with a model output is called an analysis. To produce an analysis requires the knowledge of observation and model errors, as well as its spatial correlation. This paper is devoted to the development of methods of estimation of these error variances and the characteristic length-scale of the model error correlation for its operational use in the Canadian objective analysis system. We first argue in favor of using compact support correlation functions, and then introduce three estimation methods: the Hollingsworth-Lönnberg (HL) method in local and global form, the maximum likelihood method (ML), and the [Formula: see text] diagnostic method. We perform one-dimensional (1D) simulation studies where the error variance and true correlation length are known, and perform an estimation of both error variances and correlation length where both are non-uniform. We show that a local version of the HL method can capture accurately the error variances and correlation length at each observation site, provided that spatial variability is not too strong. However, the operational objective analysis requires only a single and globally valid correlation length. We examine whether any statistics of the local HL correlation lengths could be a useful estimate, or whether other global estimation methods such as by the global HL, ML, or [Formula: see text] should be used. We found in both 1D simulation and using real data that the ML method is able to capture physically significant aspects of the correlation length, while most other estimates give unphysical and larger length-scale values. This paper describes a proposed

Estimating distribution of hidden objects with drones: from tennis balls to manatees.

PubMed

Martin, Julien; Edwards, Holly H; Burgess, Matthew A; Percival, H Franklin; Fagan, Daniel E; Gardner, Beth E; Ortega-Ortiz, Joel G; Ifju, Peter G; Evers, Brandon S; Rambo, Thomas J

2012-01-01

Unmanned aerial vehicles (UAV), or drones, have been used widely in military applications, but more recently civilian applications have emerged (e.g., wildlife population monitoring, traffic monitoring, law enforcement, oil and gas pipeline threat detection). UAV can have several advantages over manned aircraft for wildlife surveys, including reduced ecological footprint, increased safety, and the ability to collect high-resolution geo-referenced imagery that can document the presence of species without the use of a human observer. We illustrate how geo-referenced data collected with UAV technology in combination with recently developed statistical models can improve our ability to estimate the distribution of organisms. To demonstrate the efficacy of this methodology, we conducted an experiment in which tennis balls were used as surrogates of organisms to be surveyed. We used a UAV to collect images of an experimental field with a known number of tennis balls, each of which had a certain probability of being hidden. We then applied spatially explicit occupancy models to estimate the number of balls and created precise distribution maps. We conducted three consecutive surveys over the experimental field and estimated the total number of balls to be 328 (95%CI: 312, 348). The true number was 329 balls, but simple counts based on the UAV pictures would have led to a total maximum count of 284. The distribution of the balls in the field followed a simulated environmental gradient. We also were able to accurately estimate the relationship between the gradient and the distribution of balls. Our experiment demonstrates how this technology can be used to create precise distribution maps in which discrete regions of the study area are assigned a probability of presence of an object. Finally, we discuss the applicability and relevance of this experimental study to the case study of Florida manatee distribution at power plants.

Estimating Distribution of Hidden Objects with Drones: From Tennis Balls to Manatees

PubMed Central

Martin, Julien; Edwards, Holly H.; Burgess, Matthew A.; Percival, H. Franklin; Fagan, Daniel E.; Gardner, Beth E.; Ortega-Ortiz, Joel G.; Ifju, Peter G.; Evers, Brandon S.; Rambo, Thomas J.

2012-01-01

Unmanned aerial vehicles (UAV), or drones, have been used widely in military applications, but more recently civilian applications have emerged (e.g., wildlife population monitoring, traffic monitoring, law enforcement, oil and gas pipeline threat detection). UAV can have several advantages over manned aircraft for wildlife surveys, including reduced ecological footprint, increased safety, and the ability to collect high-resolution geo-referenced imagery that can document the presence of species without the use of a human observer. We illustrate how geo-referenced data collected with UAV technology in combination with recently developed statistical models can improve our ability to estimate the distribution of organisms. To demonstrate the efficacy of this methodology, we conducted an experiment in which tennis balls were used as surrogates of organisms to be surveyed. We used a UAV to collect images of an experimental field with a known number of tennis balls, each of which had a certain probability of being hidden. We then applied spatially explicit occupancy models to estimate the number of balls and created precise distribution maps. We conducted three consecutive surveys over the experimental field and estimated the total number of balls to be 328 (95%CI: 312, 348). The true number was 329 balls, but simple counts based on the UAV pictures would have led to a total maximum count of 284. The distribution of the balls in the field followed a simulated environmental gradient. We also were able to accurately estimate the relationship between the gradient and the distribution of balls. Our experiment demonstrates how this technology can be used to create precise distribution maps in which discrete regions of the study area are assigned a probability of presence of an object. Finally, we discuss the applicability and relevance of this experimental study to the case study of Florida manatee distribution at power plants. PMID:22761712

Competing conservation objectives for predators and prey: estimating killer whale prey requirements for Chinook salmon.

PubMed

Williams, Rob; Krkošek, Martin; Ashe, Erin; Branch, Trevor A; Clark, Steve; Hammond, Philip S; Hoyt, Erich; Noren, Dawn P; Rosen, David; Winship, Arliss

2011-01-01

Ecosystem-based management (EBM) of marine resources attempts to conserve interacting species. In contrast to single-species fisheries management, EBM aims to identify and resolve conflicting objectives for different species. Such a conflict may be emerging in the northeastern Pacific for southern resident killer whales (Orcinus orca) and their primary prey, Chinook salmon (Oncorhynchus tshawytscha). Both species have at-risk conservation status and transboundary (Canada-US) ranges. We modeled individual killer whale prey requirements from feeding and growth records of captive killer whales and morphometric data from historic live-capture fishery and whaling records worldwide. The models, combined with caloric value of salmon, and demographic and diet data for wild killer whales, allow us to predict salmon quantities needed to maintain and recover this killer whale population, which numbered 87 individuals in 2009. Our analyses provide new information on cost of lactation and new parameter estimates for other killer whale populations globally. Prey requirements of southern resident killer whales are difficult to reconcile with fisheries and conservation objectives for Chinook salmon, because the number of fish required is large relative to annual returns and fishery catches. For instance, a U.S. recovery goal (2.3% annual population growth of killer whales over 28 years) implies a 75% increase in energetic requirements. Reducing salmon fisheries may serve as a temporary mitigation measure to allow time for management actions to improve salmon productivity to take effect. As ecosystem-based fishery management becomes more prevalent, trade-offs between conservation objectives for predators and prey will become increasingly necessary. Our approach offers scenarios to compare relative influence of various sources of uncertainty on the resulting consumption estimates to prioritise future research efforts, and a general approach for assessing the extent of conflict

Competing Conservation Objectives for Predators and Prey: Estimating Killer Whale Prey Requirements for Chinook Salmon

PubMed Central

Williams, Rob; Krkošek, Martin; Ashe, Erin; Branch, Trevor A.; Clark, Steve; Hammond, Philip S.; Hoyt, Erich; Noren, Dawn P.; Rosen, David; Winship, Arliss

2011-01-01

Ecosystem-based management (EBM) of marine resources attempts to conserve interacting species. In contrast to single-species fisheries management, EBM aims to identify and resolve conflicting objectives for different species. Such a conflict may be emerging in the northeastern Pacific for southern resident killer whales (Orcinus orca) and their primary prey, Chinook salmon (Oncorhynchus tshawytscha). Both species have at-risk conservation status and transboundary (Canada–US) ranges. We modeled individual killer whale prey requirements from feeding and growth records of captive killer whales and morphometric data from historic live-capture fishery and whaling records worldwide. The models, combined with caloric value of salmon, and demographic and diet data for wild killer whales, allow us to predict salmon quantities needed to maintain and recover this killer whale population, which numbered 87 individuals in 2009. Our analyses provide new information on cost of lactation and new parameter estimates for other killer whale populations globally. Prey requirements of southern resident killer whales are difficult to reconcile with fisheries and conservation objectives for Chinook salmon, because the number of fish required is large relative to annual returns and fishery catches. For instance, a U.S. recovery goal (2.3% annual population growth of killer whales over 28 years) implies a 75% increase in energetic requirements. Reducing salmon fisheries may serve as a temporary mitigation measure to allow time for management actions to improve salmon productivity to take effect. As ecosystem-based fishery management becomes more prevalent, trade-offs between conservation objectives for predators and prey will become increasingly necessary. Our approach offers scenarios to compare relative influence of various sources of uncertainty on the resulting consumption estimates to prioritise future research efforts, and a general approach for assessing the extent of conflict

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Van Eepoel, John; D'Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Van Eepoel, John; D' Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors.

The Relevance of Objective and Subjective Social Position for Self-Rated Health: A Combined Approach for the Swedish Context

ERIC Educational Resources Information Center

Miething, Alexander

2013-01-01

The study investigates the health effects of subjective class position stratified by objective social position. Four types of subjective class were analysed separately for individuals with manual or non-manual occupational background. The cross-sectional analysis is based on the Swedish Level-of-Living Survey from 2000 and includes 4,139…

Developing an objective evaluation method to estimate diabetes risk in community-based settings.

PubMed

Kenya, Sonjia; He, Qing; Fullilove, Robert; Kotler, Donald P

2011-05-01

Exercise interventions often aim to affect abdominal obesity and glucose tolerance, two significant risk factors for type 2 diabetes. Because of limited financial and clinical resources in community and university-based environments, intervention effects are often measured with interviews or questionnaires and correlated with weight loss or body fat indicated by body bioimpedence analysis (BIA). However, self-reported assessments are subject to high levels of bias and low levels of reliability. Because obesity and body fat are correlated with diabetes at different levels in various ethnic groups, data reflecting changes in weight or fat do not necessarily indicate changes in diabetes risk. To determine how exercise interventions affect diabetes risk in community and university-based settings, improved evaluation methods are warranted. We compared a noninvasive, objective measurement technique--regional BIA--with whole-body BIA for its ability to assess abdominal obesity and predict glucose tolerance in 39 women. To determine regional BIA's utility in predicting glucose, we tested the association between the regional BIA method and blood glucose levels. Regional BIA estimates of abdominal fat area were significantly correlated (r = 0.554, P < 0.003) with fasting glucose. When waist circumference and family history of diabetes were added to abdominal fat in multiple regression models, the association with glucose increased further (r = 0.701, P < 0.001). Regional BIA estimates of abdominal fat may predict fasting glucose better than whole-body BIA as well as provide an objective assessment of changes in diabetes risk achieved through physical activity interventions in community settings.

Monostatic Radar Cross Section Estimation of Missile Shaped Object Using Physical Optics Method

NASA Astrophysics Data System (ADS)

Sasi Bhushana Rao, G.; Nambari, Swathi; Kota, Srikanth; Ranga Rao, K. S.

2017-08-01

Stealth Technology manages many signatures for a target in which most radar systems use radar cross section (RCS) for discriminating targets and classifying them with regard to Stealth. During a war target’s RCS has to be very small to make target invisible to enemy radar. In this study, Radar Cross Section of perfectly conducting objects like cylinder, truncated cone (frustum) and circular flat plate is estimated with respect to parameters like size, frequency and aspect angle. Due to the difficulties in exactly predicting the RCS, approximate methods become the alternative. Majority of approximate methods are valid in optical region and where optical region has its own strengths and weaknesses. Therefore, the analysis given in this study is purely based on far field monostatic RCS measurements in the optical region. Computation is done using Physical Optics (PO) method for determining RCS of simple models. In this study not only the RCS of simple models but also missile shaped and rocket shaped models obtained from the cascaded objects with backscatter has been computed using Matlab simulation. Rectangular plots are obtained for RCS in dbsm versus aspect angle for simple and missile shaped objects using Matlab simulation. Treatment of RCS, in this study is based on Narrow Band.

Stretchable, Flexible, Scalable Smart Skin Sensors for Robotic Position and Force Estimation.

PubMed

O'Neill, John; Lu, Jason; Dockter, Rodney; Kowalewski, Timothy

2018-03-23

The design and validation of a continuously stretchable and flexible skin sensor for collaborative robotic applications is outlined. The skin consists of a PDMS skin doped with Carbon Nanotubes and the addition of conductive fabric, connected by only five wires to a simple microcontroller. The accuracy is characterized in position as well as force, and the skin is also tested under uniaxial stretch. There are also two examples of practical implementations in collaborative robotic applications. The stationary position estimate has an RMSE of 7.02 mm, and the sensor error stays within 2.5 ± 1.5 mm even under stretch. The skin consistently provides an emergency stop command at only 0.5 N of force and is shown to maintain a collaboration force of 10 N in a collaborative control experiment.

Estimating snow water equivalent from GPS vertical site-position observations in the western United States

PubMed Central

Ouellette, Karli J; de Linage, Caroline; Famiglietti, James S

2013-01-01

[1] Accurate estimation of the characteristics of the winter snowpack is crucial for prediction of available water supply, flooding, and climate feedbacks. Remote sensing of snow has been most successful for quantifying the spatial extent of the snowpack, although satellite estimation of snow water equivalent (SWE), fractional snow covered area, and snow depth is improving. Here we show that GPS observations of vertical land surface loading reveal seasonal responses of the land surface to the total weight of snow, providing information about the stored SWE. We demonstrate that the seasonal signal in Scripps Orbit and Permanent Array Center (SOPAC) GPS vertical land surface position time series at six locations in the western United States is driven by elastic loading of the crust by the snowpack. GPS observations of land surface deformation are then used to predict the water load as a function of time at each location of interest and compared for validation to nearby Snowpack Telemetry observations of SWE. Estimates of soil moisture are included in the analysis and result in considerable improvement in the prediction of SWE. Citation: Ouellette, K. J., C. de Linage, and J. S. Famiglietti (2013), Estimating snow water equivalent from GPS vertical site-position observations in the western United States, Water Resour. Res., 49, 2508–2518, doi:10.1002/wrcr.20173. PMID:24223442

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.

Estimation of Tree Position and STEM Diameter Using Simultaneous Localization and Mapping with Data from a Backpack-Mounted Laser Scanner

NASA Astrophysics Data System (ADS)

Holmgren, J.; Tulldahl, H. M.; Nordlöf, J.; Nyström, M.; Olofsson, K.; Rydell, J.; Willén, E.

2017-10-01

A system was developed for automatic estimations of tree positions and stem diameters. The sensor trajectory was first estimated using a positioning system that consists of a low precision inertial measurement unit supported by image matching with data from a stereo-camera. The initial estimation of the sensor trajectory was then calibrated by adjustments of the sensor pose using the laser scanner data. Special features suitable for forest environments were used to solve the correspondence and matching problems. Tree stem diameters were estimated for stem sections using laser data from individual scanner rotations and were then used for calibration of the sensor pose. A segmentation algorithm was used to associate stem sections to individual tree stems. The stem diameter estimates of all stem sections associated to the same tree stem were then combined for estimation of stem diameter at breast height (DBH). The system was validated on four 20 m radius circular plots and manual measured trees were automatically linked to trees detected in laser data. The DBH could be estimated with a RMSE of 19 mm (6 %) and a bias of 8 mm (3 %). The calibrated sensor trajectory and the combined use of circle fits from individual scanner rotations made it possible to obtain reliable DBH estimates also with a low precision positioning system.

3D Position and Velocity Vector Computations of Objects Jettisoned from the International Space Station Using Close-Range Photogrammetry Approach

NASA Technical Reports Server (NTRS)

Papanyan, Valeri; Oshle, Edward; Adamo, Daniel

2008-01-01

Measurement of the jettisoned object departure trajectory and velocity vector in the International Space Station (ISS) reference frame is vitally important for prompt evaluation of the object s imminent orbit. We report on the first successful application of photogrammetric analysis of the ISS imagery for the prompt computation of the jettisoned object s position and velocity vectors. As post-EVA analyses examples, we present the Floating Potential Probe (FPP) and the Russian "Orlan" Space Suit jettisons, as well as the near-real-time (provided in several hours after the separation) computations of the Video Stanchion Support Assembly Flight Support Assembly (VSSA-FSA) and Early Ammonia Servicer (EAS) jettisons during the US astronauts space-walk. Standard close-range photogrammetry analysis was used during this EVA to analyze two on-board camera image sequences down-linked from the ISS. In this approach the ISS camera orientations were computed from known coordinates of several reference points on the ISS hardware. Then the position of the jettisoned object for each time-frame was computed from its image in each frame of the video-clips. In another, "quick-look" approach used in near-real time, orientation of the cameras was computed from their position (from the ISS CAD model) and operational data (pan and tilt) then location of the jettisoned object was calculated only for several frames of the two synchronized movies. Keywords: Photogrammetry, International Space Station, jettisons, image analysis.

Estimate of higher order ionospheric errors in GNSS positioning

NASA Astrophysics Data System (ADS)

Hoque, M. Mainul; Jakowski, N.

2008-10-01

Precise navigation and positioning using GPS/GLONASS/Galileo require the ionospheric propagation errors to be accurately determined and corrected for. Current dual-frequency method of ionospheric correction ignores higher order ionospheric errors such as the second and third order ionospheric terms in the refractive index formula and errors due to bending of the signal. The total electron content (TEC) is assumed to be same at two GPS frequencies. All these assumptions lead to erroneous estimations and corrections of the ionospheric errors. In this paper a rigorous treatment of these problems is presented. Different approximation formulas have been proposed to correct errors due to excess path length in addition to the free space path length, TEC difference at two GNSS frequencies, and third-order ionospheric term. The GPS dual-frequency residual range errors can be corrected within millimeter level accuracy using the proposed correction formulas.

Adaptive Trajectory Tracking of Nonholonomic Mobile Robots Using Vision-Based Position and Velocity Estimation.

PubMed

Li, Luyang; Liu, Yun-Hui; Jiang, Tianjiao; Wang, Kai; Fang, Mu

2018-02-01

Despite tremendous efforts made for years, trajectory tracking control (TC) of a nonholonomic mobile robot (NMR) without global positioning system remains an open problem. The major reason is the difficulty to localize the robot by using its onboard sensors only. In this paper, a newly designed adaptive trajectory TC method is proposed for the NMR without its position, orientation, and velocity measurements. The controller is designed on the basis of a novel algorithm to estimate position and velocity of the robot online from visual feedback of an omnidirectional camera. It is theoretically proved that the proposed algorithm yields the TC errors to asymptotically converge to zero. Real-world experiments are conducted on a wheeled NMR to validate the feasibility of the control system.

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

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.

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%.

Corrected Position Estimation in PET Detector Modules With Multi-Anode PMTs Using Neural Networks

NASA Astrophysics Data System (ADS)

Aliaga, R. J.; Martinez, J. D.; Gadea, R.; Sebastia, A.; Benlloch, J. M.; Sanchez, F.; Pavon, N.; Lerche, Ch.

2006-06-01

This paper studies the use of Neural Networks (NNs) for estimating the position of impinging photons in gamma ray detector modules for PET cameras based on continuous scintillators and Multi-Anode Photomultiplier Tubes (MA-PMTs). The detector under study is composed of a 49/spl times/49/spl times/10 mm/sup 3/ continuous slab of LSO coupled to a flat panel H8500 MA-PMT. Four digitized signals from a charge division circuit, which collects currents from the 8/spl times/8 anode matrix of the photomultiplier, are used as inputs to the NN, thus reducing drastically the number of electronic channels required. We have simulated the computation of the position for 511 keV gamma photons impacting perpendicularly to the detector surface. Thus, we have performed a thorough analysis of the NN architecture and training procedures in order to achieve the best results in terms of spatial resolution and bias correction. Results obtained using GEANT4 simulation toolkit show a resolution of 1.3 mm/1.9 mm FWHM at the center/edge of the detector and less than 1 mm of systematic error in the position near the edges of the scintillator. The results confirm that NNs can partially model and correct the non-uniform detector response using only the position-weighted signals from a simple 2D DPC circuit. Linearity degradation for oblique incidence is also investigated. Finally, the NN can be implemented in hardware for parallel real time corrected Line-of-Response (LOR) estimation. Results on resources occupancy and throughput in FPGA are presented.

Objects of attention, objects of perception.

PubMed

Avrahami, J

1999-11-01

Four experiments were conducted, to explore the notion of objects in perception. Taking as a starting point the effects of display content on rapid attention transfer and manipulating curvature, closure, and processing time, a link between objects of attention and objects of perception is proposed. In Experiment 1, a number of parallel, equally spaced, straight lines facilitated attention transfer along the lines, relative to transfer across the lines. In Experiment 2, with curved, closed-contour shapes, no "same-object" facilitation was observed. However, when a longer time interval was provided, in Experiment 3, a same-object advantage started to emerge. In Experiment 4, using the same curved shapes but in a non-speeded distance estimation task, a strong effect of objects was observed. It is argued that attention transfer is facilitated by line tracing but that line tracing is encouraged by objects.

Evaluation of position-estimation methods applied to CZT-based photon-counting detectors for dedicated breast CT.

PubMed

Makeev, Andrey; Clajus, Martin; Snyder, Scott; Wang, Xiaolang; Glick, Stephen J

2015-04-01

Semiconductor photon-counting detectors based on high atomic number, high density materials [cadmium zinc telluride (CZT)/cadmium telluride (CdTe)] for x-ray computed tomography (CT) provide advantages over conventional energy-integrating detectors, including reduced electronic and Swank noise, wider dynamic range, capability of spectral CT, and improved signal-to-noise ratio. Certain CT applications require high spatial resolution. In breast CT, for example, visualization of microcalcifications and assessment of tumor microvasculature after contrast enhancement require resolution on the order of [Formula: see text]. A straightforward approach to increasing spatial resolution of pixellated CZT-based radiation detectors by merely decreasing the pixel size leads to two problems: (1) fabricating circuitry with small pixels becomes costly and (2) inter-pixel charge spreading can obviate any improvement in spatial resolution. We have used computer simulations to investigate position estimation algorithms that utilize charge sharing to achieve subpixel position resolution. To study these algorithms, we model a simple detector geometry with a [Formula: see text] array of [Formula: see text] pixels, and use a conditional probability function to model charge transport in CZT. We used COMSOL finite element method software to map the distribution of charge pulses and the Monte Carlo package PENELOPE for simulating fluorescent radiation. Performance of two x-ray interaction position estimation algorithms was evaluated: the method of maximum-likelihood estimation and a fast, practical algorithm that can be implemented in a readout application-specific integrated circuit and allows for identification of a quadrant of the pixel in which the interaction occurred. Both methods demonstrate good subpixel resolution; however, their actual efficiency is limited by the presence of fluorescent [Formula: see text]-escape photons. Current experimental breast CT systems typically use

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.

Symmetric Positive 4th Order Tensors & Their Estimation from Diffusion Weighted MRI⋆

PubMed Central

Barmpoutis, Angelos; Jian, Bing; Vemuri, Baba C.; Shepherd, Timothy M.

2009-01-01

In Diffusion Weighted Magnetic Resonance Image (DW-MRI) processing a 2nd order tensor has been commonly used to approximate the diffusivity function at each lattice point of the DW-MRI data. It is now well known that this 2nd-order approximation fails to approximate complex local tissue structures, such as fibers crossings. In this paper we employ a 4th order symmetric positive semi-definite (PSD) tensor approximation to represent the diffusivity function and present a novel technique to estimate these tensors from the DW-MRI data guaranteeing the PSD property. There have been several published articles in literature on higher order tensor approximations of the diffusivity function but none of them guarantee the positive semi-definite constraint, which is a fundamental constraint since negative values of the diffusivity coefficients are not meaningful. In our methods, we parameterize the 4th order tensors as a sum of squares of quadratic forms by using the so called Gram matrix method from linear algebra and its relation to the Hilbert’s theorem on ternary quartics. This parametric representation is then used in a nonlinear-least squares formulation to estimate the PSD tensors of order 4 from the data. We define a metric for the higher-order tensors and employ it for regularization across the lattice. Finally, performance of this model is depicted on synthetic data as well as real DW-MRI from an isolated rat hippocampus. PMID:17633709

Object positioning in storages of robotized workcells using LabVIEW Vision

NASA Astrophysics Data System (ADS)

Hryniewicz, P.; Banaś, W.; Sękala, A.; Gwiazda, A.; Foit, K.; Kost, G.

2015-11-01

During the manufacturing process, each performed task is previously developed and adapted to the conditions and the possibilities of the manufacturing plant. The production process is supervised by a team of specialists because any downtime causes great loss of time and hence financial loss. Sensors used in industry for tracking and supervision various stages of a production process make it much easier to maintain it continuous. One of groups of sensors used in industrial applications are non-contact sensors. This group includes: light barriers, optical sensors, rangefinders, vision systems, and ultrasonic sensors. Through to the rapid development of electronics the vision systems were widespread as the most flexible type of non-contact sensors. These systems consist of cameras, devices for data acquisition, devices for data analysis and specialized software. Vision systems work well as sensors that control the production process itself as well as the sensors that control the product quality level. The LabVIEW program as well as the LabVIEW Vision and LabVIEW Builder represent the application that enables program the informatics system intended to process and product quality control. The paper presents elaborated application for positioning elements in a robotized workcell. Basing on geometric parameters of manipulated object or on the basis of previously developed graphical pattern it is possible to determine the position of particular manipulated elements. This application could work in an automatic mode and in real time cooperating with the robot control system. It allows making the workcell functioning more autonomous.

Verification of computed tomographic estimates of cochlear implant array position: a micro-CT and histologic analysis.

PubMed

Teymouri, Jessica; Hullar, Timothy E; Holden, Timothy A; Chole, Richard A

2011-08-01

To determine the efficacy of clinical computed tomographic (CT) imaging to verify postoperative electrode array placement in cochlear implant (CI) patients. Nine fresh cadaver heads underwent clinical CT scanning, followed by bilateral CI insertion and postoperative clinical CT scanning. Temporal bones were removed, trimmed, and scanned using micro-CT. Specimens were then dehydrated, embedded in either methyl methacrylate or LR White resin, and sectioned with a diamond wafering saw. Histology sections were examined by 3 blinded observers to determine the position of individual electrodes relative to soft tissue structures within the cochlea. Electrodes were judged to be within the scala tympani, scala vestibuli, or in an intermediate position between scalae. The position of the array could be estimated accurately from clinical CT scans in all specimens using micro-CT and histology as a criterion standard. Verification using micro-CT yielded 97% agreement, and histologic analysis revealed 95% agreement with clinical CT results. A composite, 3-dimensional image derived from a patient's preoperative and postoperative CT images using a clinical scanner accurately estimates the position of the electrode array as determined by micro-CT imaging and histologic analyses. Information obtained using the CT method provides valuable insight into numerous variables of interest to patient performance such as surgical technique, array design, and processor programming and troubleshooting.

Solar Radiation Pressure Estimation and Analysis of a GEO Class of High Area-to-Mass Ratio Debris Objects

NASA Technical Reports Server (NTRS)

Kelecy, Tom; Payne, Tim; Thurston, Robin; Stansbery, Gene

2007-01-01

A population of deep space objects is thought to be high area-to-mass ratio (AMR) debris having origins from sources in the geosynchronous orbit (GEO) belt. The typical AMR values have been observed to range anywhere from 1's to 10's of m(sup 2)/kg, and hence, higher than average solar radiation pressure effects result in long-term migration of eccentricity (0.1-0.6) and inclination over time. However, the nature of the debris orientation-dependent dynamics also results time-varying solar radiation forces about the average which complicate the short-term orbit determination processing. The orbit determination results are presented for several of these debris objects, and highlight their unique and varied dynamic attributes. Estimation or the solar pressure dynamics over time scales suitable for resolving the shorter term dynamics improves the orbit estimation, and hence, the orbit predictions needed to conduct follow-up observations.

Position Estimation Using Image Derivative

NASA Technical Reports Server (NTRS)

Mortari, Daniele; deDilectis, Francesco; Zanetti, Renato

2015-01-01

This paper describes an image processing algorithm to process Moon and/or Earth images. The theory presented is based on the fact that Moon hard edge points are characterized by the highest values of the image derivative. Outliers are eliminated by two sequential filters. Moon center and radius are then estimated by nonlinear least-squares using circular sigmoid functions. The proposed image processing has been applied and validated using real and synthetic Moon images.

Estimating relative values for multiple objectives on private forests

Treesearch

Donald F. Dennis; Thomas H. Stevens; David B. Kittredge; Mark G. Rickenbach

2001-01-01

Conjoint and other techniques were used to examine private forest-land owner's willingness to manage for timber and nontimber objectives. The objectives were to: maintain apple trees to benefit wildlife, protect rare ferns to enhance aesthetics and biodiversity, improve recreational trails, and harvest timber. Ecological objectives were found to be more important...

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

Objective estimation of tropical cyclone innercore surface wind structure using infrared satellite images

NASA Astrophysics Data System (ADS)

Zhang, Changjiang; Dai, Lijie; Ma, Leiming; Qian, Jinfang; Yang, Bo

2017-10-01

An objective technique is presented for estimating tropical cyclone (TC) innercore two-dimensional (2-D) surface wind field structure using infrared satellite imagery and machine learning. For a TC with eye, the eye contour is first segmented by a geodesic active contour model, based on which the eye circumference is obtained as the TC eye size. A mathematical model is then established between the eye size and the radius of maximum wind obtained from the past official TC report to derive the 2-D surface wind field within the TC eye. Meanwhile, the composite information about the latitude of TC center, surface maximum wind speed, TC age, and critical wind radii of 34- and 50-kt winds can be combined to build another mathematical model for deriving the innercore wind structure. After that, least squares support vector machine (LSSVM), radial basis function neural network (RBFNN), and linear regression are introduced, respectively, in the two mathematical models, which are then tested with sensitivity experiments on real TC cases. Verification shows that the innercore 2-D surface wind field structure estimated by LSSVM is better than that of RBFNN and linear regression.

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

Demonstration of precise estimation of polar motion parameters with the global positioning system: Initial results

NASA Technical Reports Server (NTRS)

Lichten, S. M.

1991-01-01

Data from the Global Positioning System (GPS) were used to determine precise polar motion estimates. Conservatively calculated formal errors of the GPS least squares solution are approx. 10 cm. The GPS estimates agree with independently determined polar motion values from very long baseline interferometry (VLBI) at the 5 cm level. The data were obtained from a partial constellation of GPS satellites and from a sparse worldwide distribution of ground stations. The accuracy of the GPS estimates should continue to improve as more satellites and ground receivers become operational, and eventually a near real time GPS capability should be available. Because the GPS data are obtained and processed independently from the large radio antennas at the Deep Space Network (DSN), GPS estimation could provide very precise measurements of Earth orientation for calibration of deep space tracking data and could significantly relieve the ever growing burden on the DSN radio telescopes to provide Earth platform calibrations.

Objective classification of different head and neck positions and their influence on the radiographic pharyngeal diameter in sport horses

PubMed Central

2014-01-01

Background Various head and neck positions in sport horses are significant as they can interfere with upper airway flow mechanics during exercise. Until now, research has focused on subjectively described head and neck positions. The objective of this study was to develop an objective, reproducible method for quantifying head and neck positions accurately. Results Determining the angle between the ridge of the nose and the horizontal plane (ground angle) together with the angle between the ridge of nose and the line connecting the neck and the withers (withers angle) has provided values that allow precise identification of three preselected head and neck positions for performing sport horses. The pharyngeal diameter, determined on lateral radiographs of 35 horses, differed significantly between the established flexed position and the remaining two head and neck positions (extended and neutral). There was a significant correlation between the pharyngeal diameter and the ground angle (Spearman’s rank correlation coefficient −0.769, p < 0.01) as well as between the pharyngeal diameter and the withers angle (Spearman’s rank correlation coefficient 0.774, p < 0.01). Conclusion The combination of the ground angle and the withers angle is a suitable tool for evaluating and distinguishing frequently used head and neck positions in sport horses. The ground angle and the withers angle show significant correlation with the measured pharyngeal diameter in resting horses. Hence, these angles provide an appropriate method for assessing the degree of head and neck flexion. Further research is required to examine the influence of increasing head and neck flexion and the related pharyngeal diameter on upper airway function in exercising horses. PMID:24886564

Evaluation of position-estimation methods applied to CZT-based photon-counting detectors for dedicated breast CT

PubMed Central

Makeev, Andrey; Clajus, Martin; Snyder, Scott; Wang, Xiaolang; Glick, Stephen J.

2015-01-01

Abstract. Semiconductor photon-counting detectors based on high atomic number, high density materials [cadmium zinc telluride (CZT)/cadmium telluride (CdTe)] for x-ray computed tomography (CT) provide advantages over conventional energy-integrating detectors, including reduced electronic and Swank noise, wider dynamic range, capability of spectral CT, and improved signal-to-noise ratio. Certain CT applications require high spatial resolution. In breast CT, for example, visualization of microcalcifications and assessment of tumor microvasculature after contrast enhancement require resolution on the order of 100  μm. A straightforward approach to increasing spatial resolution of pixellated CZT-based radiation detectors by merely decreasing the pixel size leads to two problems: (1) fabricating circuitry with small pixels becomes costly and (2) inter-pixel charge spreading can obviate any improvement in spatial resolution. We have used computer simulations to investigate position estimation algorithms that utilize charge sharing to achieve subpixel position resolution. To study these algorithms, we model a simple detector geometry with a 5×5 array of 200  μm pixels, and use a conditional probability function to model charge transport in CZT. We used COMSOL finite element method software to map the distribution of charge pulses and the Monte Carlo package PENELOPE for simulating fluorescent radiation. Performance of two x-ray interaction position estimation algorithms was evaluated: the method of maximum-likelihood estimation and a fast, practical algorithm that can be implemented in a readout application-specific integrated circuit and allows for identification of a quadrant of the pixel in which the interaction occurred. Both methods demonstrate good subpixel resolution; however, their actual efficiency is limited by the presence of fluorescent K-escape photons. Current experimental breast CT systems typically use detectors with a pixel size of 194�

Effect of different tropospheric mapping functions on the TRF, CRF and position time-series estimated from VLBI

NASA Astrophysics Data System (ADS)

Tesmer, Volker; Boehm, Johannes; Heinkelmann, Robert; Schuh, Harald

2007-06-01

This paper compares estimated terrestrial reference frames (TRF) and celestial reference frames (CRF) as well as position time-series in terms of systematic differences, scale, annual signals and station position repeatabilities using four different tropospheric mapping functions (MF): The NMF (Niell Mapping Function) and the recently developed GMF (Global Mapping Function) consist of easy-to-handle stand-alone formulae, whereas the IMF (Isobaric Mapping Function) and the VMF1 (Vienna Mapping Function 1) are determined from numerical weather models. All computations were performed at the Deutsches Geodätisches Forschungsinstitut (DGFI) using the OCCAM 6.1 and DOGS-CS software packages for Very Long Baseline Interferometry (VLBI) data from 1984 until 2005. While it turned out that CRF estimates only slightly depend on the MF used, showing small systematic effects up to 0.025 mas, some station heights of the computed TRF change by up to 13 mm. The best agreement was achieved for the VMF1 and GMF results concerning the TRFs, and for the VMF1 and IMF results concerning scale variations and position time-series. The amplitudes of the annual periodical signals in the time-series of estimated heights differ by up to 5 mm. The best precision in terms of station height repeatability is found for the VMF1, which is 5 7% better than for the other MFs.

[RS estimation of inventory parameters and carbon storage of moso bamboo forest based on synergistic use of object-based image analysis and decision tree].

PubMed

Du, Hua Qiang; Sun, Xiao Yan; Han, Ning; Mao, Fang Jie

2017-10-01

By synergistically using the object-based image analysis (OBIA) and the classification and regression tree (CART) methods, the distribution information, the indexes (including diameter at breast, tree height, and crown closure), and the aboveground carbon storage (AGC) of moso bamboo forest in Shanchuan Town, Anji County, Zhejiang Province were investigated. The results showed that the moso bamboo forest could be accurately delineated by integrating the multi-scale ima ge segmentation in OBIA technique and CART, which connected the image objects at various scales, with a pretty good producer's accuracy of 89.1%. The investigation of indexes estimated by regression tree model that was constructed based on the features extracted from the image objects reached normal or better accuracy, in which the crown closure model archived the best estimating accuracy of 67.9%. The estimating accuracy of diameter at breast and tree height was relatively low, which was consistent with conclusion that estimating diameter at breast and tree height using optical remote sensing could not achieve satisfactory results. Estimation of AGC reached relatively high accuracy, and accuracy of the region of high value achieved above 80%.

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

An FPGA-Based Real-Time Maximum Likelihood 3D Position Estimation for a Continuous Crystal PET Detector

NASA Astrophysics Data System (ADS)

Wang, Yonggang; Xiao, Yong; Cheng, Xinyi; Li, Deng; Wang, Liwei

2016-02-01

For the continuous crystal-based positron emission tomography (PET) detector built in our lab, a maximum likelihood algorithm adapted for implementation on a field programmable gate array (FPGA) is proposed to estimate the three-dimensional (3D) coordinate of interaction position with the single-end detected scintillation light response. The row-sum and column-sum readout scheme organizes the 64 channels of photomultiplier (PMT) into eight row signals and eight column signals to be readout for X- and Y-coordinates estimation independently. By the reference events irradiated in a known oblique angle, the probability density function (PDF) for each depth-of-interaction (DOI) segment is generated, by which the reference events in perpendicular irradiation are assigned to DOI segments for generating the PDFs for X and Y estimation in each DOI layer. Evaluated by the experimental data, the algorithm achieves an average X resolution of 1.69 mm along the central X-axis, and DOI resolution of 3.70 mm over the whole thickness (0-10 mm) of crystal. The performance improvements from 2D estimation to the 3D algorithm are also presented. Benefiting from abundant resources of FPGA and a hierarchical storage arrangement, the whole algorithm can be implemented into a middle-scale FPGA. By a parallel structure in pipelines, the 3D position estimator on the FPGA can achieve a processing throughput of 15 M events/s, which is sufficient for the requirement of real-time PET imaging.

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.

A model to estimate the relative position of sites for ligands in serum albumins

NASA Astrophysics Data System (ADS)

Motta, Art Adriel Emidio de Araújo; Grassini, Maria Carolina Vilela; Cortez, Célia Martins; Silva, Dilson

2017-11-01

In this work, we present a mathematical-computational model developed to estimate the relative position of ligand binding sites in HSA and BSA, based on the theory of fluorescence quenching, considering the molecular and spectrofluorimetric differences and similarities between these two albumins. Albumin is the largest and the most abundant serum protein in vertebrates. The ability to bind xenobiotics makes albumin important to the bioavailability and effectiveness of drugs.

Estimating health benefits and cost-savings for achieving the Healthy People 2020 objective of reducing invasive colorectal cancer.

PubMed

Hung, Mei-Chuan; Ekwueme, Donatus U; White, Arica; Rim, Sun Hee; King, Jessica B; Wang, Jung-Der; Chang, Su-Hsin

2018-01-01

This study aims to quantify the aggregate potential life-years (LYs) saved and healthcare cost-savings if the Healthy People 2020 objective were met to reduce invasive colorectal cancer (CRC) incidence by 15%. We identified patients (n=886,380) diagnosed with invasive CRC between 2001 and 2011 from a nationally representative cancer dataset. We stratified these patients by sex, race/ethnicity, and age. Using these data and data from the 2001-2011 U.S. life tables, we estimated a survival function for each CRC group and the corresponding reference group and computed per-person LYs saved. We estimated per-person annual healthcare cost-savings using the 2008-2012 Medical Expenditure Panel Survey. We calculated aggregate LYs saved and cost-savings by multiplying the reduced number of CRC patients by the per-person LYs saved and lifetime healthcare cost-savings, respectively. We estimated an aggregate of 84,569 and 64,924 LYs saved for men and women, respectively, accounting for healthcare cost-savings of $329.3 and $294.2 million (in 2013$), respectively. Per person, we estimated 6.3 potential LYs saved related to those who developed CRC for both men and women, and healthcare cost-savings of $24,000 for men and $28,000 for women. Non-Hispanic whites and those aged 60-64 had the highest aggregate potential LYs saved and cost-savings. Achieving the HP2020 objective of reducing invasive CRC incidence by 15% by year 2020 would potentially save nearly 150,000 life-years and $624 million on healthcare costs. Copyright © 2017. Published by Elsevier Inc.

MAAG Job Position: Rolebooks and Technical Vocabulary (Iberian Spanish). Methods for Determining Language Objectives and Criteria, Volume VII.

ERIC Educational Resources Information Center

Setzler, Hubert H., Jr.; And Others

Rolebooks and technical Iberian Spanish vocabulary for the job position of military advisory and assistance group (MAAG) officer of the Air Force are presented. The materials are part of the communication/language objectives-based system (C/LOBS), which supports the front-end analysis efforts of the Defense Language Institute Foreign Language…

Strategy to minimize the impact of the South Atlantic Anomaly effect on the DORIS station position estimation

NASA Astrophysics Data System (ADS)

Capdeville, H.; Moreaux, G.; Lemoine, J. M.

2017-12-01

All the Ultra Stable Oscillators (USO) of DORIS satellites are more or less sensitive to the South Atlantic Anomaly (SAA) effect. For Jason-1 and SPOT-5 satellites, a corrective model has been developed and used for the realization of the ITRF2014. However, Jason-2 is also impacted, not at the same level as Jason-1 but strong enough to worsen the multi-satellite solution provided for ITRF2014 for the SAA stations. The last DORIS satellites are also impacted by the SAA effect, in particular Jason-3. Thanks to the extremely precise time-tagging of the T2L2 experiment on-board Jason-2, A. Belli and the GEOAZUR team managed to draw up a model that accurately represents the variations of Jason-2 USO's frequency. This model will be evaluated by analyzing its impact on the position estimation of the SAA stations. While awaiting a DORIS data corrective model for the others satellites Jason-3 and Sentinel-3A, we propose here different strategies to minimize the SAA effect on the orbit and also and in particular on the station position estimation. We will compare the DORIS positions of the SAA stations with the GNSS positions collocated.

Statistical Estimation of Orbital Debris Populations with a Spectrum of Object Size

NASA Technical Reports Server (NTRS)

Xu, Y. -l; Horstman, M.; Krisko, P. H.; Liou, J. -C; Matney, M.; Stansbery, E. G.; Stokely, C. L.; Whitlock, D.

2008-01-01

Orbital debris is a real concern for the safe operations of satellites. In general, the hazard of debris impact is a function of the size and spatial distributions of the debris populations. To describe and characterize the debris environment as reliably as possible, the current NASA Orbital Debris Engineering Model (ORDEM2000) is being upgraded to a new version based on new and better quality data. The data-driven ORDEM model covers a wide range of object sizes from 10 microns to greater than 1 meter. This paper reviews the statistical process for the estimation of the debris populations in the new ORDEM upgrade, and discusses the representation of large-size (greater than or equal to 1 m and greater than or equal to 10 cm) populations by SSN catalog objects and the validation of the statistical approach. Also, it presents results for the populations with sizes of greater than or equal to 3.3 cm, greater than or equal to 1 cm, greater than or equal to 100 micrometers, and greater than or equal to 10 micrometers. The orbital debris populations used in the new version of ORDEM are inferred from data based upon appropriate reference (or benchmark) populations instead of the binning of the multi-dimensional orbital-element space. This paper describes all of the major steps used in the population-inference procedure for each size-range. Detailed discussions on data analysis, parameter definition, the correlation between parameters and data, and uncertainty assessment are included.

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.

Determining Occurrence Dynamics when False Positives Occur: Estimating the Range Dynamics of Wolves from Public Survey Data.

PubMed

Miller, David A W; Nichols, James D; Gude, Justin A; Rich, Lindsey N; Podruzny, Kevin M; Hines, James E; Mitchell, Michael S

2013-01-01

Large-scale presence-absence monitoring programs have great promise for many conservation applications. Their value can be limited by potential incorrect inferences owing to observational errors, especially when data are collected by the public. To combat this, previous analytical methods have focused on addressing non-detection from public survey data. Misclassification errors have received less attention but are also likely to be a common component of public surveys, as well as many other data types. We derive estimators for dynamic occupancy parameters (extinction and colonization), focusing on the case where certainty can be assumed for a subset of detections. We demonstrate how to simultaneously account for non-detection (false negatives) and misclassification (false positives) when estimating occurrence parameters for gray wolves in northern Montana from 2007-2010. Our primary data source for the analysis was observations by deer and elk hunters, reported as part of the state's annual hunter survey. This data was supplemented with data from known locations of radio-collared wolves. We found that occupancy was relatively stable during the years of the study and wolves were largely restricted to the highest quality habitats in the study area. Transitions in the occupancy status of sites were rare, as occupied sites almost always remained occupied and unoccupied sites remained unoccupied. Failing to account for false positives led to over estimation of both the area inhabited by wolves and the frequency of turnover. The ability to properly account for both false negatives and false positives is an important step to improve inferences for conservation from large-scale public surveys. The approach we propose will improve our understanding of the status of wolf populations and is relevant to many other data types where false positives are a component of observations.

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.

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.

Objectivity and validity of EMG method in estimating anaerobic threshold.

PubMed

Kang, S-K; Kim, J; Kwon, M; Eom, H

2014-08-01

The purposes of this study were to verify and compare the performances of anaerobic threshold (AT) point estimates among different filtering intervals (9, 15, 20, 25, 30 s) and to investigate the interrelationships of AT point estimates obtained by ventilatory threshold (VT) and muscle fatigue thresholds using electromyographic (EMG) activity during incremental exercise on a cycle ergometer. 69 untrained male university students, yet pursuing regular exercise voluntarily participated in this study. The incremental exercise protocol was applied with a consistent stepwise increase in power output of 20 watts per minute until exhaustion. AT point was also estimated in the same manner using V-slope program with gas exchange parameters. In general, the estimated values of AT point-time computed by EMG method were more consistent across 5 filtering intervals and demonstrated higher correlations among themselves when compared with those values obtained by VT method. The results found in the present study suggest that the EMG signals could be used as an alternative or a new option in estimating AT point. Also the proposed computing procedure implemented in Matlab for the analysis of EMG signals appeared to be valid and reliable as it produced nearly identical values and high correlations with VT estimates. © Georg Thieme Verlag KG Stuttgart · New York.

Migration protocol to estimate metal exposure from mouthing copper and tin alloy objects

PubMed Central

2014-01-01

Background Low blood lead levels previously thought to pose no health risks may have an adverse impact on the cognitive development of children. This concern has given rise to new regulatory restrictions upon lead metal containing products intended for child use. However few reliable experimental testing methods to estimate exposure levels from these materials are available. Methods The present work describes a migration test using a mimetic saliva fluid to estimate the chronic exposure of children to metals such as lead while mouthing metallic objects. The surrogate saliva medium was composed of: 150 mM NaCl, 0.16% porcine Mucin and 5 mM buffer MOPS, adjusted to pH 7.2. Alloys samples, in the form of polished metallic disc of known surface area, were subjected to an eight hours test. Results Two whitemetal alloys Sn/Pb/Sb/Cu and three brass alloys Cu/Zn/Pb were tested using the saliva migration protocol. In the case of the whitemetal alloys, first order release kinetics resulting in the release of 0.03 and 0.51 μg lead/cm2 after 8 hours of tests were observed, for lead contents of 0.05-0.07% and 5.5%, respectively. Brasses exhibited linear incremental release rates of 0.043, 0.175 and 0.243 μg lead/cm2h for lead contents of 0.1-0.2%, 1.7-2.2% and 3.1-3.5%, respectively. The linear regression analysis of lead release rates relative to Pb content in brasses yielded a slope of 0.08 μg lead/cm2h%Pb (r2 = 0.92). Lead release rates were used to estimate the mean daily mouthing exposure of a child to lead, according to age-specific estimates of mouthing time behavior. Calculated daily intakes were used as oral inputs for the IEUBK toxicokinetic model, predicting only marginal changes in blood lead levels (0.2 μg lead/dL or less) for children aged 0.5 to 1 years old exposed to either class of alloy. Conclusions The results of this study as a whole support the use of migration data of metal ions, rather than total metal content, to estimate health risk

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.

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

Multisensory processing of naturalistic objects in motion: a high-density electrical mapping and source estimation study.

PubMed

Senkowski, Daniel; Saint-Amour, Dave; Kelly, Simon P; Foxe, John J

2007-07-01

In everyday life, we continuously and effortlessly integrate the multiple sensory inputs from objects in motion. For instance, the sound and the visual percept of vehicles in traffic provide us with complementary information about the location and motion of vehicles. Here, we used high-density electrical mapping and local auto-regressive average (LAURA) source estimation to study the integration of multisensory objects in motion as reflected in event-related potentials (ERPs). A randomized stream of naturalistic multisensory-audiovisual (AV), unisensory-auditory (A), and unisensory-visual (V) "splash" clips (i.e., a drop falling and hitting a water surface) was presented among non-naturalistic abstract motion stimuli. The visual clip onset preceded the "splash" onset by 100 ms for multisensory stimuli. For naturalistic objects early multisensory integration effects beginning 120-140 ms after sound onset were observed over posterior scalp, with distributed sources localized to occipital cortex, temporal lobule, insular, and medial frontal gyrus (MFG). These effects, together with longer latency interactions (210-250 and 300-350 ms) found in a widespread network of occipital, temporal, and frontal areas, suggest that naturalistic objects in motion are processed at multiple stages of multisensory integration. The pattern of integration effects differed considerably for non-naturalistic stimuli. Unlike naturalistic objects, no early interactions were found for non-naturalistic objects. The earliest integration effects for non-naturalistic stimuli were observed 210-250 ms after sound onset including large portions of the inferior parietal cortex (IPC). As such, there were clear differences in the cortical networks activated by multisensory motion stimuli as a consequence of the semantic relatedness (or lack thereof) of the constituent sensory elements.

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.

Estimation of precipitable water vapour using kinematic GNSS precise point positioning over an altitude range of 1 km

NASA Astrophysics Data System (ADS)

Webb, S. R.; Penna, N. T.; Clarke, P. J.; Webster, S.; Martin, I.

2013-12-01

The estimation of total precipitable water vapour (PWV) using kinematic GNSS has been investigated since around 2001, aiming to extend the use of static ground-based GNSS, from which PWV estimates are now operationally assimilated into numerical weather prediction models. To date, kinematic GNSS PWV studies suggest a PWV measurement agreement with radiosondes of 2-3 mm, almost commensurate with static GNSS measurement accuracy, but only shipborne experiments have so far been carried out. As a first step towards extending such sea level-based studies to platforms that operate at a range of altitudes, such as airplanes or land based vehicles, the kinematic GNSS estimation of PWV over an exactly repeated trajectory is considered. A data set was collected from a GNSS receiver and antenna mounted on a carriage of the Snowdon Mountain Railway, UK, which continually ascends and descends through 950 m of vertical relief. Static GNSS reference receivers were installed at the top and bottom of the altitude profile, and derived zenith wet delay (ZWD) was interpolated to the altitude of the train to provide reference values together with profile estimates from the 100 m resolution runs of the Met Office's Unified Model. We demonstrate similar GNSS accuracies as obtained from previous shipborne studies, namely a double difference relative kinematic GNSS ZWD accuracy within 14 mm, and a kinematic GNSS precise point positioning ZWD accuracy within 15 mm. The latter is a more typical airborne PWV estimation scenario i.e. without the reliance on ground-based GNSS reference stations. We show that the kinematic GPS-only precise point positioning ZWD estimation is enhanced by also incorporating GLONASS observations.

Positive and Negative Consequences of Making Coffee among Breakfast Related Irrelevant Objects: Evidence from MCI, Dementia, and Healthy Ageing.

PubMed

Rodríguez-Bailón, María; García-Morán, Tamara; Montoro-Membila, Nuria; Ródenas-García, Estrella; Montoro, Marisa Arnedo; Funes Molina, María Jesús

2017-07-01

Previous studies have reported impairments in activities of daily living (ADL) performance in the presence of irrelevant but physically/functionally related objects in dementia patients. The aim of the present study was to increase our knowledge about the impact of the presence of contextually related non-target objects on ADL execution in patients with multi-domain mild cognitive impairment (MCI) and dementia. We compared ADL execution in patients with MCI, dementia, and healthy elderly participants under two experimental conditions: One in which the target objects were embedded with contextually related non-target items that constituted the object set necessary to complete two additional (but unrequired) ADL tasks related to the target task, and a second, control condition where target objects were surrounded by isolated objects (they never constituted a whole set needed to complete an alternative ADL task). Separate analysis of ADL errors associated with the target task versus errors involving the non-target objects revealed that, although the presence of contextually related objects facilitated the accomplishment of the target task, such a condition also led to errors involving the use of irrelevant objects in dementia and MCI. The presence of contextually related non-target items produces both positive and negative effects on ADL performance. These types of non-target objects might help to cue the retrieval of the action schema related to the target task, particularly in patients with MCI. In contrast, the presence of these objects might also lead to distraction in dementia and MCI. (JINS, 2017, 23, 481-492).

A Method to Estimate the Size and Characteristics of HIV-positive Populations Using an Individual-based Stochastic Simulation Model.

PubMed

Nakagawa, Fumiyo; van Sighem, Ard; Thiebaut, Rodolphe; Smith, Colette; Ratmann, Oliver; Cambiano, Valentina; Albert, Jan; Amato-Gauci, Andrew; Bezemer, Daniela; Campbell, Colin; Commenges, Daniel; Donoghoe, Martin; Ford, Deborah; Kouyos, Roger; Lodwick, Rebecca; Lundgren, Jens; Pantazis, Nikos; Pharris, Anastasia; Quinten, Chantal; Thorne, Claire; Touloumi, Giota; Delpech, Valerie; Phillips, Andrew

2016-03-01

It is important not only to collect epidemiologic data on HIV but to also fully utilize such information to understand the epidemic over time and to help inform and monitor the impact of policies and interventions. We describe and apply a novel method to estimate the size and characteristics of HIV-positive populations. The method was applied to data on men who have sex with men living in the UK and to a pseudo dataset to assess performance for different data availability. The individual-based simulation model was calibrated using an approximate Bayesian computation-based approach. In 2013, 48,310 (90% plausibility range: 39,900-45,560) men who have sex with men were estimated to be living with HIV in the UK, of whom 10,400 (6,160-17,350) were undiagnosed. There were an estimated 3,210 (1,730-5,350) infections per year on average between 2010 and 2013. Sixty-two percent of the total HIV-positive population are thought to have viral load <500 copies/ml. In the pseudo-epidemic example, HIV estimates have narrower plausibility ranges and are closer to the true number, the greater the data availability to calibrate the model. We demonstrate that our method can be applied to settings with less data, however plausibility ranges for estimates will be wider to reflect greater uncertainty of the data used to fit the model.

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.

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.

Feasibility of using single photon counting X-ray for lung tumor position estimation based on 4D-CT.

PubMed

Aschenbrenner, Katharina P; Guthier, Christian V; Lyatskaya, Yulia; Boda-Heggemann, Judit; Wenz, Frederik; Hesser, Jürgen W

2017-09-01

In stereotactic body radiation therapy of lung tumors, reliable position estimation of the tumor is necessary in order to minimize normal tissue complication rate. While kV X-ray imaging is frequently used, continuous application during radiotherapy sessions is often not possible due to concerns about the additional dose. Thus, ultra low-dose (ULD) kV X-ray imaging based on a single photon counting detector is suggested. This paper addresses the lower limit of photons to locate the tumor reliably with an accuracy in the range of state-of-the-art methods, i.e. a few millimeters. 18 patient cases with four dimensional CT (4D-CT), which serves as a-priori information, are included in the study. ULD cone beam projections are simulated from the 4D-CTs including Poisson noise. The projections from the breathing phases which correspond to different tumor positions are compared to the ULD projection by means of Poisson log-likelihood (PML) and correlation coefficient (CC), and template matching under these metrics. The results indicate that in full thorax imaging five photons per pixel suffice for a standard deviation in tumor positions of less than half a breathing phase. Around 50 photons per pixel are needed to achieve this accuracy with the field of view restricted to the tumor region. Compared to CC, PML tends to perform better for low photon counts and shifts in patient setup. Template matching only improves the position estimation in high photon counts. The quality of the reconstruction is independent of the projection angle. The accuracy of the proposed ULD single photon counting system is in the range of a few millimeters and therefore comparable to state-of-the-art tumor tracking methods. At the same time, a reduction in photons per pixel by three to four orders of magnitude relative to commercial systems with flatpanel detectors can be achieved. This enables continuous kV image-based position estimation during all fractions since the additional dose to the

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.

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

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

Objective lens

NASA Technical Reports Server (NTRS)

Olczak, Eugene G. (Inventor)

2011-01-01

An objective lens and a method for using same. The objective lens has a first end, a second end, and a plurality of optical elements. The optical elements are positioned between the first end and the second end and are at least substantially symmetric about a plane centered between the first end and the second end.

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.

Human-like object tracking and gaze estimation with PKD android

PubMed Central

Wijayasinghe, Indika B.; Miller, Haylie L.; Das, Sumit K; Bugnariu, Nicoleta L.; Popa, Dan O.

2018-01-01

As the use of robots increases for tasks that require human-robot interactions, it is vital that robots exhibit and understand human-like cues for effective communication. In this paper, we describe the implementation of object tracking capability on Philip K. Dick (PKD) android and a gaze tracking algorithm, both of which further robot capabilities with regard to human communication. PKD's ability to track objects with human-like head postures is achieved with visual feedback from a Kinect system and an eye camera. The goal of object tracking with human-like gestures is twofold : to facilitate better human-robot interactions and to enable PKD as a human gaze emulator for future studies. The gaze tracking system employs a mobile eye tracking system (ETG; SensoMotoric Instruments) and a motion capture system (Cortex; Motion Analysis Corp.) for tracking the head orientations. Objects to be tracked are displayed by a virtual reality system, the Computer Assisted Rehabilitation Environment (CAREN; MotekForce Link). The gaze tracking algorithm converts eye tracking data and head orientations to gaze information facilitating two objectives: to evaluate the performance of the object tracking system for PKD and to use the gaze information to predict the intentions of the user, enabling the robot to understand physical cues by humans. PMID:29416193

Human-like object tracking and gaze estimation with PKD android

NASA Astrophysics Data System (ADS)

Wijayasinghe, Indika B.; Miller, Haylie L.; Das, Sumit K.; Bugnariu, Nicoleta L.; Popa, Dan O.

2016-05-01

As the use of robots increases for tasks that require human-robot interactions, it is vital that robots exhibit and understand human-like cues for effective communication. In this paper, we describe the implementation of object tracking capability on Philip K. Dick (PKD) android and a gaze tracking algorithm, both of which further robot capabilities with regard to human communication. PKD's ability to track objects with human-like head postures is achieved with visual feedback from a Kinect system and an eye camera. The goal of object tracking with human-like gestures is twofold: to facilitate better human-robot interactions and to enable PKD as a human gaze emulator for future studies. The gaze tracking system employs a mobile eye tracking system (ETG; SensoMotoric Instruments) and a motion capture system (Cortex; Motion Analysis Corp.) for tracking the head orientations. Objects to be tracked are displayed by a virtual reality system, the Computer Assisted Rehabilitation Environment (CAREN; MotekForce Link). The gaze tracking algorithm converts eye tracking data and head orientations to gaze information facilitating two objectives: to evaluate the performance of the object tracking system for PKD and to use the gaze information to predict the intentions of the user, enabling the robot to understand physical cues by humans.

The probability of object-scene co-occurrence influences object identification processes.

PubMed

Sauvé, Geneviève; Harmand, Mariane; Vanni, Léa; Brodeur, Mathieu B

2017-07-01

Contextual information allows the human brain to make predictions about the identity of objects that might be seen and irregularities between an object and its background slow down perception and identification processes. Bar and colleagues modeled the mechanisms underlying this beneficial effect suggesting that the brain stocks information about the statistical regularities of object and scene co-occurrence. Their model suggests that these recurring regularities could be conceptualized along a continuum in which the probability of seeing an object within a given scene can be high (probable condition), moderate (improbable condition) or null (impossible condition). In the present experiment, we propose to disentangle the electrophysiological correlates of these context effects by directly comparing object-scene pairs found along this continuum. We recorded the event-related potentials of 30 healthy participants (18-34 years old) and analyzed their brain activity in three time windows associated with context effects. We observed anterior negativities between 250 and 500 ms after object onset for the improbable and impossible conditions (improbable more negative than impossible) compared to the probable condition as well as a parieto-occipital positivity (improbable more positive than impossible). The brain may use different processing pathways to identify objects depending on whether the probability of co-occurrence with the scene is moderate (rely more on top-down effects) or null (rely more on bottom-up influences). The posterior positivity could index error monitoring aimed to ensure that no false information is integrated into mental representations of the world.

Binding Objects to Locations: The Relationship between Object Files and Visual Working Memory

ERIC Educational Resources Information Center

Hollingworth, Andrew; Rasmussen, Ian P.

2010-01-01

The relationship between object files and visual working memory (VWM) was investigated in a new paradigm combining features of traditional VWM experiments (color change detection) and object-file experiments (memory for the properties of moving objects). Object-file theory was found to account for a key component of object-position binding in VWM:…

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.

The epoch state navigation filter. [for maximum likelihood estimates of position and velocity vectors

NASA Technical Reports Server (NTRS)

Battin, R. H.; Croopnick, S. R.; Edwards, J. A.

1977-01-01

The formulation of a recursive maximum likelihood navigation system employing reference position and velocity vectors as state variables is presented. Convenient forms of the required variational equations of motion are developed together with an explicit form of the associated state transition matrix needed to refer measurement data from the measurement time to the epoch time. Computational advantages accrue from this design in that the usual forward extrapolation of the covariance matrix of estimation errors can be avoided without incurring unacceptable system errors. Simulation data for earth orbiting satellites are provided to substantiate this assertion.

Fast Object Motion Estimation Based on Dynamic Stixels.

PubMed

Morales, Néstor; Morell, Antonio; Toledo, Jonay; Acosta, Leopoldo

2016-07-28

The stixel world is a simplification of the world in which obstacles are represented as vertical instances, called stixels, standing on a surface assumed to be planar. In this paper, previous approaches for stixel tracking are extended using a two-level scheme. In the first level, stixels are tracked by matching them between frames using a bipartite graph in which edges represent a matching cost function. Then, stixels are clustered into sets representing objects in the environment. These objects are matched based on the number of stixels paired inside them. Furthermore, a faster, but less accurate approach is proposed in which only the second level is used. Several configurations of our method are compared to an existing state-of-the-art approach to show how our methodology outperforms it in several areas, including an improvement in the quality of the depth reconstruction.

The influence of object similarity and orientation on object-based cueing.

PubMed

Hein, Elisabeth; Blaschke, Stefan; Rolke, Bettina

2017-01-01

Responses to targets that appear at a noncued position within the same object (invalid-same) compared to a noncued position at an equidistant different object (invalid-different) tend to be faster and more accurate. These cueing effects have been taken as evidence that visual attention can be object based (Egly, Driver, & Rafal, Journal of Experimental Psychology: General, 123, 161-177, 1994). Recent findings, however, have shown that the object-based cueing effect is influenced by object orientation, suggesting that the cueing effect might be due to a more general facilitation of attentional shifts across the horizontal meridian (Al-Janabi & Greenberg, Attention, Perception, & Psychophysics, 1-17, 2016; Pilz, Roggeveen, Creighton, Bennet, & Sekuler, PLOS ONE, 7, e30693, 2012). The aim of this study was to investigate whether the object-based cueing effect is influenced by object similarity and orientation. According to the object-based attention account, objects that are less similar to each other should elicit stronger object-based cueing effects independent of object orientation, whereas the horizontal meridian theory would not predict any effect of object similarity. We manipulated object similarity by using a color (Exp. 1, Exp. 2A) or shape change (Exp. 2B) to distinguish two rectangles in a variation of the classic two-rectangle paradigm (Egly et al., 1994). We found that the object-based cueing effects were influenced by the orientation of the rectangles and strengthened by object dissimilarity. We suggest that object-based cueing effects are strongly affected by the facilitation of attention along the horizontal meridian, but that they also have an object-based attentional component, which is revealed when the dissimilarity between the presented objects is accentuated.

Position Estimation of an Epicardial Crawling Robot on the Beating Heart by Modeling of Physiological Motion

PubMed Central

Wood, Nathan A.; del Agua, Diego Moral; Zenati, Marco A.; Riviere, Cameron N.

2012-01-01

HeartLander, a small mobile robot designed to provide treatments to the surface of the beating heart, overcomes a major difficulty of minimally invasive cardiac surgery, providing a stable operating platform. This is achieved inherently in the way the robot adheres to and crawls over the surface of the heart. This mode of operation does not require physiological motion compensation to provide this stable environment; however, modeling of physiological motion is advantageous in providing more accurate position estimation as well as synchronization of motion to the physiological cycles. The work presented uses an Extended Kalman Filter framework to estimate parameters of non-stationary Fourier series models of the motion of the heart due to the respiratory and cardiac cycles as well as the position of the robot as it moves over the surface of the heart. The proposed method is demonstrated in the laboratory with HeartLander operating on a physiological motion simulator. Improved performance is demonstrated in comparison to the filtering methods previously used with HeartLander. The use of detected physiological cycle phases to synchronize locomotion of HeartLander is also described. PMID:23066511

Position Estimation of an Epicardial Crawling Robot on the Beating Heart by Modeling of Physiological Motion.

PubMed

Wood, Nathan A; Del Agua, Diego Moral; Zenati, Marco A; Riviere, Cameron N

2011-12-05

HeartLander, a small mobile robot designed to provide treatments to the surface of the beating heart, overcomes a major difficulty of minimally invasive cardiac surgery, providing a stable operating platform. This is achieved inherently in the way the robot adheres to and crawls over the surface of the heart. This mode of operation does not require physiological motion compensation to provide this stable environment; however, modeling of physiological motion is advantageous in providing more accurate position estimation as well as synchronization of motion to the physiological cycles. The work presented uses an Extended Kalman Filter framework to estimate parameters of non-stationary Fourier series models of the motion of the heart due to the respiratory and cardiac cycles as well as the position of the robot as it moves over the surface of the heart. The proposed method is demonstrated in the laboratory with HeartLander operating on a physiological motion simulator. Improved performance is demonstrated in comparison to the filtering methods previously used with HeartLander. The use of detected physiological cycle phases to synchronize locomotion of HeartLander is also described.

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

A verification and errors analysis of the model for object positioning based on binocular stereo vision for airport surface surveillance

NASA Astrophysics Data System (ADS)

Wang, Huan-huan; Wang, Jian; Liu, Feng; Cao, Hai-juan; Wang, Xiang-jun

2014-12-01

A test environment is established to obtain experimental data for verifying the positioning model which was derived previously based on the pinhole imaging model and the theory of binocular stereo vision measurement. The model requires that the optical axes of the two cameras meet at one point which is defined as the origin of the world coordinate system, thus simplifying and optimizing the positioning model. The experimental data are processed and tables and charts are given for comparing the positions of objects measured with DGPS with a measurement accuracy of 10 centimeters as the reference and those measured with the positioning model. Sources of visual measurement model are analyzed, and the effects of the errors of camera and system parameters on the accuracy of positioning model were probed, based on the error transfer and synthesis rules. A conclusion is made that measurement accuracy of surface surveillances based on binocular stereo vision measurement is better than surface movement radars, ADS-B (Automatic Dependent Surveillance-Broadcast) and MLAT (Multilateration).

Needle position estimation from sub-sampled k-space data for MRI-guided interventions

NASA Astrophysics Data System (ADS)

Schmitt, Sebastian; Choli, Morwan; Overhoff, Heinrich M.

2015-03-01

MRI-guided interventions have gained much interest. They profit from intervention synchronous data acquisition and image visualization. Due to long data acquisition durations, ergonomic limitations may occur. For a trueFISP MRI-data acquisition sequence, a time sparing sub-sampling strategy has been developed that is adapted to amagnetic needle detection. A symmetrical and contrast rich susceptibility needle artifact, i.e. an approximately rectangular gray scale profile is assumed. The 1-D-Fourier transformed of a rectangular function is a sinc-function. Its periodicity is exploited by sampling only along a few orthogonal trajectories in k-space. Because a needle moves during intervention, its tip region resembles a rectangle in a time-difference image that is reconstructed from such sub-sampled k-spaces acquired at different time stamps. In different phantom experiments, a needle was pushed forward along a reference trajectory, which was determined from a needle holders geometric parameters. In addition, the trajectory of the needle tip was estimated by the method described above. Only ca. 4 to 5% of the entire k-space data was used for needle tip estimation. The misalignment of needle orientation and needle tip position, i.e. the differences between reference and estimated values, is small and even in its worst case less than 2 mm. The results show that the method is applicable under nearly real conditions. Next steps are addressed to the validation of the method for clinical data.

Hyper-Fractal Analysis: A visual tool for estimating the fractal dimension of 4D objects

NASA Astrophysics Data System (ADS)

Grossu, I. V.; Grossu, I.; Felea, D.; Besliu, C.; Jipa, Al.; Esanu, T.; Bordeianu, C. C.; Stan, E.

2013-04-01

This work presents a new version of a Visual Basic 6.0 application for estimating the fractal dimension of images and 3D objects (Grossu et al. (2010) [1]). The program was extended for working with four-dimensional objects stored in comma separated values files. This might be of interest in biomedicine, for analyzing the evolution in time of three-dimensional images. New version program summaryProgram title: Hyper-Fractal Analysis (Fractal Analysis v03) Catalogue identifier: AEEG_v3_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEEG_v3_0.html Program obtainable from: CPC Program Library, Queen’s University, Belfast, N. Ireland Licensing provisions: Standard CPC license, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 745761 No. of bytes in distributed program, including test data, etc.: 12544491 Distribution format: tar.gz Programming language: MS Visual Basic 6.0 Computer: PC Operating system: MS Windows 98 or later RAM: 100M Classification: 14 Catalogue identifier of previous version: AEEG_v2_0 Journal reference of previous version: Comput. Phys. Comm. 181 (2010) 831-832 Does the new version supersede the previous version? Yes Nature of problem: Estimating the fractal dimension of 4D images. Solution method: Optimized implementation of the 4D box-counting algorithm. Reasons for new version: Inspired by existing applications of 3D fractals in biomedicine [3], we extended the optimized version of the box-counting algorithm [1, 2] to the four-dimensional case. This might be of interest in analyzing the evolution in time of 3D images. The box-counting algorithm was extended in order to support 4D objects, stored in comma separated values files. A new form was added for generating 2D, 3D, and 4D test data. The application was tested on 4D objects with known dimension, e.g. the Sierpinski hypertetrahedron gasket, Df=ln(5)/ln(2) (Fig. 1). The algorithm could be extended, with minimum effort, to

Application of a transmission model to estimate performance objectives for Salmonella in the broiler supply chain.

PubMed

van der Fels-Klerx, H J; Tromp, S; Rijgersberg, H; van Asselt, E D

2008-11-30

The aim of the present study was to demonstrate how Performance Objectives (POs) for Salmonella at various points in the broiler supply chain can be estimated, starting from pre-set levels of the PO in finished products. The estimations were performed using an analytical transmission model, based on prevalence data collected throughout the chain in The Netherlands. In the baseline (current) situation, the end PO was set at 2.5% of the finished products (at end of processing) being contaminated with Salmonella. Scenario analyses were performed by reducing this baseline end PO to 1.5% and 0.5%. The results showed the end PO could be reduced by spreading the POs over the various stages of the broiler supply chain. Sensitivity analyses were performed by changing the values of the model parameters. Results indicated that, in general, decreasing Salmonella contamination between points in the chain is more effective in reducing the baseline PO than increasing the reduction of the pathogen, implying contamination should be prevented rather than treated. Application of both approaches at the same time showed to be most effective in reducing the end PO, especially at the abattoir and during processing. The modelling approach of this study proved to be useful to estimate the implications for preceding stages of the chain by setting a PO at the end of the chain as well as to evaluate the effectiveness of potential interventions in reducing the end PO. The model estimations may support policy-makers in their decision-making process with regard to microbiological food safety.

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

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.

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.

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

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

Object Scene Flow

NASA Astrophysics Data System (ADS)

Menze, Moritz; Heipke, Christian; Geiger, Andreas

2018-06-01

This work investigates the estimation of dense three-dimensional motion fields, commonly referred to as scene flow. While great progress has been made in recent years, large displacements and adverse imaging conditions as observed in natural outdoor environments are still very challenging for current approaches to reconstruction and motion estimation. In this paper, we propose a unified random field model which reasons jointly about 3D scene flow as well as the location, shape and motion of vehicles in the observed scene. We formulate the problem as the task of decomposing the scene into a small number of rigidly moving objects sharing the same motion parameters. Thus, our formulation effectively introduces long-range spatial dependencies which commonly employed local rigidity priors are lacking. Our inference algorithm then estimates the association of image segments and object hypotheses together with their three-dimensional shape and motion. We demonstrate the potential of the proposed approach by introducing a novel challenging scene flow benchmark which allows for a thorough comparison of the proposed scene flow approach with respect to various baseline models. In contrast to previous benchmarks, our evaluation is the first to provide stereo and optical flow ground truth for dynamic real-world urban scenes at large scale. Our experiments reveal that rigid motion segmentation can be utilized as an effective regularizer for the scene flow problem, improving upon existing two-frame scene flow methods. At the same time, our method yields plausible object segmentations without requiring an explicitly trained recognition model for a specific object class.

Mapping your competitive position.

PubMed

D'Aveni, Richard A

2007-11-01

A price-benefit positioning map helps you see, through your customers' eyes, how your product compares with all its competitors in a market. You can draw such a map quickly and objectively, without having to resort to costly, time-consuming consumer surveys or subjective estimates of the excellence of your product and the shortcomings of all the others. Creating a positioning map involves three steps: First, define your market to include everything your customers might consider to be your product's competitors or substitutes. Second, track the price your customers actually pay (wholesale or retail? bundled or unbundled?) and identify what your customers see as your offering's primary benefit. This is done through regression analysis, determining which of the product's attributes (as described objectively by rating services, government agencies, R&D departments, and the like) explains most of the variance in its price. Third, draw the map by plotting on a graph the position of every product in the market you've selected according to its price and its level of primary benefit, and draw a line that runs through the middle of the points. What you get is a picture of the competitive landscape of your market, where all the products above the line command a price premium owing to some secondary benefit customers value, and all those below the line are positioned to earn market share through lower prices and reduced secondary benefits. Using examples as varied as Harley-Davidson motorcycles, Motorola cell phones, and the New York restaurant market, Tuck professor D'Aveni demonstrates some of the many ways the maps can be used: to locate unoccupied or less-crowded spaces in highly competitive markets, for instance, or to identify opportunities created through changes in the relationship between the primary benefit and prices. The maps even allow companies to anticipate--and counter-- rivals' strategies. R eprint RO711G

Objective estimates based on experimental data and initial and final knowledge

NASA Technical Reports Server (NTRS)

Rosenbaum, B. M.

1972-01-01

An extension of the method of Jaynes, whereby least biased probability estimates are obtained, permits such estimates to be made which account for experimental data on hand as well as prior and posterior knowledge. These estimates can be made for both discrete and continuous sample spaces. The method allows a simple interpretation of Laplace's two rules: the principle of insufficient reason and the rule of succession. Several examples are analyzed by way of illustration.

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.

Real-time motion compensated patient positioning and non-rigid deformation estimation using 4-D shape priors.

PubMed

Wasza, Jakob; Bauer, Sebastian; Hornegger, Joachim

2012-01-01

Over the last years, range imaging (RI) techniques have been proposed for patient positioning and respiration analysis in motion compensation. Yet, current RI based approaches for patient positioning employ rigid-body transformations, thus neglecting free-form deformations induced by respiratory motion. Furthermore, RI based respiration analysis relies on non-rigid registration techniques with run-times of several seconds. In this paper we propose a real-time framework based on RI to perform respiratory motion compensated positioning and non-rigid surface deformation estimation in a joint manner. The core of our method are pre-procedurally obtained 4-D shape priors that drive the intra-procedural alignment of the patient to the reference state, simultaneously yielding a rigid-body table transformation and a free-form deformation accounting for respiratory motion. We show that our method outperforms conventional alignment strategies by a factor of 3.0 and 2.3 in the rotation and translation accuracy, respectively. Using a GPU based implementation, we achieve run-times of 40 ms.

Mixture models reveal multiple positional bias types in RNA-Seq data and lead to accurate transcript concentration estimates.

PubMed

Tuerk, Andreas; Wiktorin, Gregor; Güler, Serhat

2017-05-01

Accuracy of transcript quantification with RNA-Seq is negatively affected by positional fragment bias. This article introduces Mix2 (rd. "mixquare"), a transcript quantification method which uses a mixture of probability distributions to model and thereby neutralize the effects of positional fragment bias. The parameters of Mix2 are trained by Expectation Maximization resulting in simultaneous transcript abundance and bias estimates. We compare Mix2 to Cufflinks, RSEM, eXpress and PennSeq; state-of-the-art quantification methods implementing some form of bias correction. On four synthetic biases we show that the accuracy of Mix2 overall exceeds the accuracy of the other methods and that its bias estimates converge to the correct solution. We further evaluate Mix2 on real RNA-Seq data from the Microarray and Sequencing Quality Control (MAQC, SEQC) Consortia. On MAQC data, Mix2 achieves improved correlation to qPCR measurements with a relative increase in R2 between 4% and 50%. Mix2 also yields repeatable concentration estimates across technical replicates with a relative increase in R2 between 8% and 47% and reduced standard deviation across the full concentration range. We further observe more accurate detection of differential expression with a relative increase in true positives between 74% and 378% for 5% false positives. In addition, Mix2 reveals 5 dominant biases in MAQC data deviating from the common assumption of a uniform fragment distribution. On SEQC data, Mix2 yields higher consistency between measured and predicted concentration ratios. A relative error of 20% or less is obtained for 51% of transcripts by Mix2, 40% of transcripts by Cufflinks and RSEM and 30% by eXpress. Titration order consistency is correct for 47% of transcripts for Mix2, 41% for Cufflinks and RSEM and 34% for eXpress. We, further, observe improved repeatability across laboratory sites with a relative increase in R2 between 8% and 44% and reduced standard deviation.

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.

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;

Variable-Position Acoustic Levitation

NASA Technical Reports Server (NTRS)

Barmatz, M. B.; Stoneburner, J. D.; Jacobi, N.; Wang, T. G.

1983-01-01

Method of acoustic levitation supports objects at positions other than acoustic nodes. Acoustic force is varied so it balances gravitational (or other) force, thereby maintaining object at any position within equilibrium range. Levitation method applicable to containerless processing. Such objects as table-tennis balls, hollow plastic spheres, and balsa-wood spheres levitated in laboratory by new method.

Second COS FUV Lifetime Position: Verification of FUV Bright Object Aperture (BOA) Operations (FCAL4)

NASA Astrophysics Data System (ADS)

Debes, John H.

2013-05-01

As part of the calibration of the second lifetime position on the Cosmic Origins Spectrograph (COS) far-ultraviolet (FUV) detectors, observations of the external target, G191-B2B, were obtained with the G130M, G160M, and G140L gratings in combi- nation with the Bright Object Aperture. The observations were designed to verify the performance of these spectroscopic modes by reproducing similar observations taken during the SM4 Servicing Mission Observatory Verification (SMOV) of COS. These observations allowed for a detailed determination of the spatial location and profile of the spectra from the three gratings, as well as a determination of the spectral resolution of the G130M grating prior to and after the lifetime move. In general, the negligi- ble differences which exist between the two lifetime positions can be attributed to slight differences in the optical path. In particular, the spectral resolution appears to be slightly improved. The stability of the absolute and relative flux calibration was investigated for G130M as well using STIS echelle data of G191-B2B. We determine that the COS ab- solute flux calibration with the BOA is accurate to 10%, and flux calibrated data are reproducible at the 1-2% level since SMOV.

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.

Numerical algorithm for rigid body position estimation using the quaternion approach

NASA Astrophysics Data System (ADS)

Zigic, Miodrag; Grahovac, Nenad

2017-11-01

This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.

Accuracy assessment of the Precise Point Positioning method applied for surveys and tracking moving objects in GIS environment

NASA Astrophysics Data System (ADS)

Ilieva, Tamara; Gekov, Svetoslav

2017-04-01

The Precise Point Positioning (PPP) method gives the users the opportunity to determine point locations using a single GNSS receiver. The accuracy of the determined by PPP point locations is better in comparison to the standard point positioning, due to the precise satellite orbit and clock corrections that are developed and maintained by the International GNSS Service (IGS). The aim of our current research is the accuracy assessment of the PPP method applied for surveys and tracking moving objects in GIS environment. The PPP data is collected by using preliminary developed by us software application that allows different sets of attribute data for the measurements and their accuracy to be used. The results from the PPP measurements are directly compared within the geospatial database to different other sets of terrestrial data - measurements obtained by total stations, real time kinematic and static GNSS.

Operator Localization of Virtual Objects

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Menges, Brian M.; Null, Cynthia H. (Technical Monitor)

1998-01-01

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects'age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are also influenced by their relative position when superimposed. Design implications are discussed.

Object formation in visual working memory: Evidence from object-based attention.

PubMed

Zhou, Jifan; Zhang, Haihang; Ding, Xiaowei; Shui, Rende; Shen, Mowei

2016-09-01

We report on how visual working memory (VWM) forms intact perceptual representations of visual objects using sub-object elements. Specifically, when objects were divided into fragments and sequentially encoded into VWM, the fragments were involuntarily integrated into objects in VWM, as evidenced by the occurrence of both positive and negative object-based attention effects: In Experiment 1, when subjects' attention was cued to a location occupied by the VWM object, the target presented at the location of that object was perceived as occurring earlier than that presented at the location of a different object. In Experiment 2, responses to a target were significantly slower when a distractor was presented at the same location as the cued object (Experiment 2). These results suggest that object fragments can be integrated into objects within VWM in a manner similar to that of visual perception. Copyright © 2016 Elsevier B.V. All rights reserved.

Plate Motion and Crustal Deformation Estimated with Geodetic Data from the Global Positioning System

NASA Technical Reports Server (NTRS)

Argus, Donald F.; Heflin, Michael B.

1995-01-01

We use geodetic data taken over four years with the Global Positioning System (GPS) to estimate: (1) motion between six major plates and (2) motion relative to these plates of ten sites in plate boundary zones. The degree of consistency between geodetic velocities and rigid plates requires the (one-dimensional) standard errors in horizontal velocities to be approx. 2 mm/yr. Each of the 15 angular velocities describing motion between plate pairs that we estimate with GPS differs insignificantly from the corresponding angular velocity in global plate motion model NUVEL-1A, which averages motion over the past 3 m.y. The motion of the Pacific plate relative to both the Eurasian and North American plates is observed to be faster than predicted by NUVEL-1A, supporting the inference from Very Long B ase- line Interferometry (VLBI) that motion of the Pacific plate has speed up over the past few m.y. The Eurasia-North America pole of rotation is estimated to be north of NUVEL-1A, consistent with the independent hypothesis that the pole has recently migrated northward across northeast Asia to near the Lena River delta. Victoria, which lies above the main thrust at the Cascadia subduction zone, moves relative to the interior of the overriding plate at 30% of the velocity of the subducting plate, reinforcing the conclusion that the thrust there is locked beneath the continental shelf and slope.

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.

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.

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

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.

The Correlates of Similarity Estimates are Often Misleadingly Positive: The Nature and Scope of the Problem, and Some Solutions

PubMed Central

Wood, Dustin; Furr, R. Michael

2015-01-01

Research on similarity constructs (e.g., dyadic similarity, personality stability; judgment agreement and accuracy) frequently find them to be associated with positive outcomes. However, a methodological pitfall associated with common ‘overall similarity’ indices, which we term the normative-desirability confound (NDC), will regularly result in similarity constructs apparently having more positive effects than they do in reality. In essence, when an individual is estimated to be similar to another person by common indices, this will strongly indicate that the individual has desirable characteristics. Consequently, the correlates of overall similarity indices can often be interpreted as indicating the beneficial effects of having desirable characteristics, without needing to attribute any additional salutary effect to similarity. We show that this confound is present in overall similarity estimates for a wide range of constructs (e.g., personality traits, attitudes, emotions, behaviors, values), how it can be accounted for, and discuss larger implications for our understanding of similarity constructs. PMID:25896284

A positional estimation technique for an autonomous land vehicle in an unstructured environment

NASA Technical Reports Server (NTRS)

Talluri, Raj; Aggarwal, J. K.

1990-01-01

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Spatiotemporal motion boundary detection and motion boundary velocity estimation for tracking moving objects with a moving camera: a level sets PDEs approach with concurrent camera motion compensation.

PubMed

Feghali, Rosario; Mitiche, Amar

2004-11-01

The purpose of this study is to investigate a method of tracking moving objects with a moving camera. This method estimates simultaneously the motion induced by camera movement. The problem is formulated as a Bayesian motion-based partitioning problem in the spatiotemporal domain of the image quence. An energy functional is derived from the Bayesian formulation. The Euler-Lagrange descent equations determine imultaneously an estimate of the image motion field induced by camera motion and an estimate of the spatiotemporal motion undary surface. The Euler-Lagrange equation corresponding to the surface is expressed as a level-set partial differential equation for topology independence and numerically stable implementation. The method can be initialized simply and can track multiple objects with nonsimultaneous motions. Velocities on motion boundaries can be estimated from geometrical properties of the motion boundary. Several examples of experimental verification are given using synthetic and real-image sequences.

An Inertial Sensor-Based Method for Estimating the Athlete's Relative Joint Center Positions and Center of Mass Kinematics in Alpine Ski Racing

PubMed Central

Fasel, Benedikt; Spörri, Jörg; Schütz, Pascal; Lorenzetti, Silvio; Aminian, Kamiar

2017-01-01

For the purpose of gaining a deeper understanding of the relationship between external training load and health in competitive alpine skiing, an accurate and precise estimation of the athlete's kinematics is an essential methodological prerequisite. This study proposes an inertial sensor-based method to estimate the athlete's relative joint center positions and center of mass (CoM) kinematics in alpine skiing. Eleven inertial sensors were fixed to the lower and upper limbs, trunk, and head. The relative positions of the ankle, knee, hip, shoulder, elbow, and wrist joint centers, as well as the athlete's CoM kinematics were validated against a marker-based optoelectronic motion capture system during indoor carpet skiing. For all joints centers analyzed, position accuracy (mean error) was below 110 mm and precision (error standard deviation) was below 30 mm. CoM position accuracy and precision were 25.7 and 6.7 mm, respectively. Both the accuracy and precision of the system to estimate the distance between the ankle of the outside leg and CoM (measure quantifying the skier's overall vertical motion) were found to be below 11 mm. Some poorer accuracy and precision values (below 77 mm) were observed for the athlete's fore-aft position (i.e., the projection of the outer ankle-CoM vector onto the line corresponding to the projection of ski's longitudinal axis on the snow surface). In addition, the system was found to be sensitive enough to distinguish between different types of turns (wide/narrow). Thus, the method proposed in this paper may also provide a useful, pervasive way to monitor and control adverse external loading patterns that occur during regular on-snow training. Moreover, as demonstrated earlier, such an approach might have a certain potential to quantify competition time, movement repetitions and/or the accelerations acting on the different segments of the human body. However, prior to getting feasible for applications in daily training, future studies

An Inertial Sensor-Based Method for Estimating the Athlete's Relative Joint Center Positions and Center of Mass Kinematics in Alpine Ski Racing.

PubMed

Fasel, Benedikt; Spörri, Jörg; Schütz, Pascal; Lorenzetti, Silvio; Aminian, Kamiar

2017-01-01

For the purpose of gaining a deeper understanding of the relationship between external training load and health in competitive alpine skiing, an accurate and precise estimation of the athlete's kinematics is an essential methodological prerequisite. This study proposes an inertial sensor-based method to estimate the athlete's relative joint center positions and center of mass (CoM) kinematics in alpine skiing. Eleven inertial sensors were fixed to the lower and upper limbs, trunk, and head. The relative positions of the ankle, knee, hip, shoulder, elbow, and wrist joint centers, as well as the athlete's CoM kinematics were validated against a marker-based optoelectronic motion capture system during indoor carpet skiing. For all joints centers analyzed, position accuracy (mean error) was below 110 mm and precision (error standard deviation) was below 30 mm. CoM position accuracy and precision were 25.7 and 6.7 mm, respectively. Both the accuracy and precision of the system to estimate the distance between the ankle of the outside leg and CoM (measure quantifying the skier's overall vertical motion) were found to be below 11 mm. Some poorer accuracy and precision values (below 77 mm) were observed for the athlete's fore-aft position (i.e., the projection of the outer ankle-CoM vector onto the line corresponding to the projection of ski's longitudinal axis on the snow surface). In addition, the system was found to be sensitive enough to distinguish between different types of turns (wide/narrow). Thus, the method proposed in this paper may also provide a useful, pervasive way to monitor and control adverse external loading patterns that occur during regular on-snow training. Moreover, as demonstrated earlier, such an approach might have a certain potential to quantify competition time, movement repetitions and/or the accelerations acting on the different segments of the human body. However, prior to getting feasible for applications in daily training, future studies

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.

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

Experience with Malleable Objects Influences Shape-based Object Individuation by Infants

PubMed Central

Woods, Rebecca J.; Schuler, Jena

2014-01-01

Infants’ ability to accurately represent and later recognize previously viewed objects, and conversely, to discriminate novel objects from those previously seen improves remarkably over the first two years of life. During this time, infants acquire extensive experience viewing and manipulating objects and these experiences influence their physical reasoning. Here we posited that infants’ observations of object feature stability (rigid versus malleable) can influence use of those features to individuate two successively viewed objects. We showed 8.5-month-olds a series of objects that could or could not change shape then assessed their use of shape as a basis for object individuation. Infants who explored rigid objects later used shape differences to individuate objects; however, infants who explored malleable objects did not. This outcome suggests that the latter infants did not take into account shape differences during the physical reasoning task and provides further evidence that infants’ attention to object features can be readily modified based on recent experiences. PMID:24561541

Understanding what is visible in a mirror or through a window before and after updating the position of an object.

PubMed

Bertamini, Marco

2014-01-01

In the Venus effect observers assume that Venus is admiring her own reflection in the mirror (Bertamini et al., 2003a). However, since the observer sees her face in the mirror, Venus is actually looking at the reflection of the painter. This effect is general because it is not specific to paintings or to images of people. This study tests whether people have difficulties in estimating what is visible from a given viewpoint using a paper and pencil task. Participants (N = 80) judged what is visible in a scene that could include a mirror or an aperture. The object in the scene (a train) was already located in front of the mirror or behind the aperture, or the same object had to be imagined to move to that location. The hypothesis was that this extra step (spatial transformation) is always part of how people reason about mirrors because they have to imagine the location of the reflection based on the location of the physical object. If so, this manipulation would equate the difficulty of the mirror and of the aperture conditions. Results show that performance on the paper and pencil task was better than expected, probably because of the asymmetric nature of the object used. However, an additional cost in reasoning about mirrors was confirmed.

Semi-automatic object geometry estimation for image personalization

NASA Astrophysics Data System (ADS)

Ding, Hengzhou; Bala, Raja; Fan, Zhigang; Eschbach, Reiner; Bouman, Charles A.; Allebach, Jan P.

2010-01-01

Digital printing brings about a host of benefits, one of which is the ability to create short runs of variable, customized content. One form of customization that is receiving much attention lately is in photofinishing applications, whereby personalized calendars, greeting cards, and photo books are created by inserting text strings into images. It is particularly interesting to estimate the underlying geometry of the surface and incorporate the text into the image content in an intelligent and natural way. Current solutions either allow fixed text insertion schemes into preprocessed images, or provide manual text insertion tools that are time consuming and aimed only at the high-end graphic designer. It would thus be desirable to provide some level of automation in the image personalization process. We propose a semi-automatic image personalization workflow which includes two scenarios: text insertion and text replacement. In both scenarios, the underlying surfaces are assumed to be planar. A 3-D pinhole camera model is used for rendering text, whose parameters are estimated by analyzing existing structures in the image. Techniques in image processing and computer vison such as the Hough transform, the bilateral filter, and connected component analysis are combined, along with necessary user inputs. In particular, the semi-automatic workflow is implemented as an image personalization tool, which is presented in our companion paper.1 Experimental results including personalized images for both scenarios are shown, which demonstrate the effectiveness of our algorithms.

The subjective experience of object recognition: comparing metacognition for object detection and object categorization.

PubMed

Meuwese, Julia D I; van Loon, Anouk M; Lamme, Victor A F; Fahrenfort, Johannes J

2014-05-01

Perceptual decisions seem to be made automatically and almost instantly. Constructing a unitary subjective conscious experience takes more time. For example, when trying to avoid a collision with a car on a foggy road you brake or steer away in a reflex, before realizing you were in a near accident. This subjective aspect of object recognition has been given little attention. We used metacognition (assessed with confidence ratings) to measure subjective experience during object detection and object categorization for degraded and masked objects, while objective performance was matched. Metacognition was equal for degraded and masked objects, but categorization led to higher metacognition than did detection. This effect turned out to be driven by a difference in metacognition for correct rejection trials, which seemed to be caused by an asymmetry of the distractor stimulus: It does not contain object-related information in the detection task, whereas it does contain such information in the categorization task. Strikingly, this asymmetry selectively impacted metacognitive ability when objective performance was matched. This finding reveals a fundamental difference in how humans reflect versus act on information: When matching the amount of information required to perform two tasks at some objective level of accuracy (acting), metacognitive ability (reflecting) is still better in tasks that rely on positive evidence (categorization) than in tasks that rely more strongly on an absence of evidence (detection).

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.

Dynamical features of hazardous near-Earth objects

NASA Astrophysics Data System (ADS)

Emel'yanenko, V. V.; Naroenkov, S. A.

2015-07-01

We discuss the dynamical features of near-Earth objects moving in dangerous proximity to Earth. We report the computation results for the motions of all observed near-Earth objects over a 600-year-long time period: 300 years in the past and 300 years in the future. We analyze the dynamical features of Earth-approaching objects. In particular, we established that the observed distribution of geocentric velocities of dangerous objects depends on their size. No bodies with geocentric velocities smaller that 5 kms-1 have been found among hazardous objects with absolute magnitudes H <18, whereas 9% of observed objects with H <27 pass near Earth moving at such velocities. On the other hand, we found a tendency for geocentric velocities to increase at H >29. We estimated the distribution of absolute magnitudes of hazardous objects based on our analysis of the data for the asteroids that have passed close to Earth. We inferred the Earth-impact frequencies for objects of different sizes. Impacts of objects with H <18 with Earth occur on average once every 0.53 Myr, and impacts of objects with H <27—once every 130-240 years. We show that currently about 0.1% of all near-Earth objects with diameters greater than 10 m have been discovered. We point out the discrepancies between the estimates of impact rates of Chelyabinsk-type objects, determined from fireball observations and from the data of telescopic asteroid tracking surveys. These estimates can be reconciled assuming that Chelyabinsk-sized asteroids have very low albedos (about 0.02 on average).

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

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.

Estimating forest characteristics using NAIP imagery and ArcObjects

Treesearch

John S Hogland; Nathaniel M. Anderson; Woodam Chung; Lucas Wells

2014-01-01

Detailed, accurate, efficient, and inexpensive methods of estimating basal area, trees, and aboveground biomass per acre across broad extents are needed to effectively manage forests. In this study we present such a methodology using readily available National Agriculture Imagery Program imagery, Forest Inventory Analysis samples, a two stage classification and...

Labor estimation by informational objective assessment (LEIOA) for preterm delivery prediction.

PubMed

Malaina, Iker; Aranburu, Larraitz; Martínez, Luis; Fernández-Llebrez, Luis; Bringas, Carlos; De la Fuente, Ildefonso M; Pérez, Martín Blás; González, Leire; Arana, Itziar; Matorras, Roberto

2018-05-01

To introduce LEIOA, a new screening method to forecast which patients admitted to the hospital because of suspected threatened premature delivery will give birth in < 7 days, so that it can be used to assist in the prognosis and treatment jointly with other clinical tools. From 2010 to 2013, 286 tocographies from women with gestational ages comprehended between 24 and 37 weeks were collected and studied. Then, we developed a new predictive model based on uterine contractions which combine the Generalized Hurst Exponent and the Approximate Entropy by logistic regression (LEIOA model). We compared it with a model using exclusively obstetric variables, and afterwards, we joined both to evaluate the gain. Finally, a cross validation was performed. The combination of LEIOA with the medical model resulted in an increase (in average) of predictive values of 12% with respect to the medical model alone, giving a sensitivity of 0.937, a specificity of 0.747, a positive predictive value of 0.907 and a negative predictive value of 0.819. Besides, adding LEIOA reduced the percentage of incorrectly classified cases by the medical model by almost 50%. Due to the significant increase in predictive parameters and the reduction of incorrectly classified cases when LEIOA was combined with the medical variables, we conclude that it could be a very useful tool to improve the estimation of the immediacy of preterm delivery.

Attitude and position estimation on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Ali, Khaled S.; Vanelli, C. Anthony; Biesiadecki, Jeffrey J.; Maimone, Mark W.; Yang Cheng, A.; San Martin, Miguel; Alexander, James W.

2005-01-01

NASA/JPL 's Mars Exploration Rovers acquire their attitude upon command and autonomously propagate their attitude and position. The rovers use accelerometers and images of the sun to acquire attitude, autonomously searching the sky for the sun with a pointable camera. To propagate the attitude and position the rovers use either accelerometer and gyro readings or gyro readings and wheel odometiy, depending on the nature of the movement ground operators are commanding. Where necessary, visual odometry is performed on images to fine tune the position updates, particularly in high slip environments. The capability also exists for visual odometry attitude updates. This paper describes the techniques used by the rovers to acquire and maintain attitude and position knowledge, the accuracy which is obtainable, and lessons learned after more than one year in operation.

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.

Laser scanning system for object monitoring

DOEpatents

McIntyre, Timothy James [Knoxville, TN; Maxey, Lonnie Curtis [Powell, TN; Chiaro, Jr; John, Peter [Clinton, TN

2008-04-22

A laser scanner is located in a fixed position to have line-of-sight access to key features of monitored objects. The scanner rapidly scans pre-programmed points corresponding to the positions of retroreflecting targets affixed to the key features of the objects. The scanner is capable of making highly detailed scans of any portion of the field of view, permitting the exact location and identity of targets to be confirmed. The security of an object is verified by determining that the cooperative target is still present and that its position has not changed. The retroreflecting targets also modulate the reflected light for purposes of returning additional information back to the location of the scanner.

Improved Object Localization Using Accurate Distance Estimation in Wireless Multimedia Sensor Networks

PubMed Central

Ur Rehman, Yasar Abbas; Tariq, Muhammad; Khan, Omar Usman

2015-01-01

Object localization plays a key role in many popular applications of Wireless Multimedia Sensor Networks (WMSN) and as a result, it has acquired a significant status for the research community. A significant body of research performs this task without considering node orientation, object geometry and environmental variations. As a result, the localized object does not reflect the real world scenarios. In this paper, a novel object localization scheme for WMSN has been proposed that utilizes range free localization, computer vision, and principle component analysis based algorithms. The proposed approach provides the best possible approximation of distance between a wmsn sink and an object, and the orientation of the object using image based information. Simulation results report 99% efficiency and an error ratio of 0.01 (around 1 ft) when compared to other popular techniques. PMID:26528919

The paired-object affordance effect.

PubMed

Yoon, Eun Young; Humphreys, Glyn W; Riddoch, M Jane

2010-08-01

We demonstrate that right-handed participants make speeded classification responses to pairs of objects that appear in standard co-locations for right-handed actions relative to when they appear in reflected locations. These effects are greater when participants "weight" information for action when deciding if 2 objects are typically used together, compared with deciding if objects typically occur in a given context. The effects are enhanced, and affect both types of decision, when an agent is shown holding the objects. However, the effects are eliminated when the objects are not viewed from the first-person perspective and when words are presented rather than objects. The data suggest that (a) participants are sensitive to whether objects are positioned correctly for their own actions, (b) the position information is coded within an egocentric reference frame, (c) the critical representation involved is visual and not semantic, and (d) the effects are enhanced by a sense of agency. The results can be interpreted within a dual-route framework for action retrieval in which a direct visual route is influenced by affordances for action.

Attitude Estimation for Unresolved Agile Space Objects with Shape Model Uncertainty

DTIC Science & Technology

2012-09-01

Simulated lightcurve data using the Cook-Torrance [8] Bidirectional Reflectivity Distribution Function ( BRDF ) model was first applied in a batch estimation...framework to ellipsoidal SO models in geostationary orbits [9]. The Ashikhmin-Shirley [10] BRDF has also been used to study estimation of specular...non-convex 300 facet model and simulated lightcurves using a combination of Lambertian and Cook-Torrance (specular) BRDF models with an Unscented

Translation and rotation positioning motor

DOEpatents

Schmid, Andreas [Berkeley, CA; Schaff, Oliver [13355 Berlin, DE

2005-02-01

A positioning device provides the capability of moving an object in both a linear and a rotational direction. The positioning device includes a first piezo stack with plural piezo plates that are capable of movement in orthogonal directions with respect to each other. The positioning device further includes a second piezo stack with plural piezo plates that are capable of movement in orthogonal directions with respect to each other. The positioning device also includes a first bearing that is disposed against the first piezo stack. The positioning device further includes a second bearing that is disposed against the second piezo stack. The positioning device also includes a spring element and a fifth bearing that is disposed against the spring element. The first through fifth bearings are disposed around and against the object to be positioned, to provide for positioning of the object in at least one of a linear direction and a rotational direction.

Translation and rotation positioning motor

DOEpatents

Schmid, Andreas [Berkeley, CA; Schaff, Oliver [Berlin, DE

2006-07-04

A positioning device provides the capability of moving an object in both a linear and a rotational direction. The positioning device includes a first piezo stack with plural piezo plates that are capable of movement in orthogonal directions with respect to each other. The positioning device further includes a second piezo stack with plural piezo plates that are capable of movement in orthogonal directions with respect to each other. The positioning device also includes a first bearing that is disposed against the first piezo stack. The positioning device further includes a second bearing that is disposed against the second piezo stack. The positioning device also includes a spring element and a fifth bearing that is disposed against the spring element. The first through fifth bearings are disposed around and against the object to be positioned, to provide for positioning of the object in at least one of a linear direction and a rotational direction.

Visual object recognition and tracking

NASA Technical Reports Server (NTRS)

Chang, Chu-Yin (Inventor); English, James D. (Inventor); Tardella, Neil M. (Inventor)

2010-01-01

This invention describes a method for identifying and tracking an object from two-dimensional data pictorially representing said object by an object-tracking system through processing said two-dimensional data using at least one tracker-identifier belonging to the object-tracking system for providing an output signal containing: a) a type of the object, and/or b) a position or an orientation of the object in three-dimensions, and/or c) an articulation or a shape change of said object in said three dimensions.

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.

Distance Perception of Stereoscopically Presented Virtual Objects Optically Superimposed on Physical Objects by a Head-Mounted See-Through Display

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Bucher, Urs J.; Statler, Irving C. (Technical Monitor)

1994-01-01

The influence of physically presented background stimuli on the perceived depth of optically overlaid, stereoscopic virtual images has been studied using headmounted stereoscopic, virtual image displays. These displays allow presentation of physically unrealizable stimulus combinations. Positioning of an opaque physical object either at the initial perceived depth of the virtual image or at a position substantially in front of the virtual image, causes the virtual image to perceptually move closer to the observer. In the case of objects positioned substantially in front of the virtual image, subjects often perceive the opaque object to become transparent. Evidence is presented that the apparent change of position caused by interposition of the physical object is not due to occlusion cues. According, it may have an alternative cause such as variation in the binocular vengeance position of the eyes caused by introduction of the physical object. This effect may complicate design of overlaid virtual image displays for near objects and appears to be related to the relative conspicuousness of the overlaid virtual image and the background. Consequently, it may be related to earlier analyses of John Foley which modeled open-loop pointing errors to stereoscopically presented points of light in terms of errors in determination of a reference point for interpretation of observed retinal disparities. Implications for the design of see-through displays for manufacturing will be discussed.

Moving Object Control System

NASA Technical Reports Server (NTRS)

Arndt, G. Dickey (Inventor); Carl, James R. (Inventor)

2001-01-01

A method is provided for controlling two objects relatively moveable with respect to each other. A plurality of receivers are provided for detecting a distinctive microwave signal from each of the objects and measuring the phase thereof with respect to a reference signal. The measured phase signal is used to determine a distance between each of the objects and each of the plurality of receivers. Control signals produced in response to the relative distances are used to control the position of the two objects.

Sensor positioning and experimental constraints influence estimates of local dynamic stability during repetitive spine movements.

PubMed

Howarth, Samuel J; Graham, Ryan B

2015-04-13

Application of non-linear dynamics analyses to study human movement has increased recently, which necessitates an understanding of how dependent measures may be influenced by experimental design and setup. Quantifying local dynamic stability for a multi-articulated structure such as the spine presents the possibility for estimates to be influenced by positioning of kinematic sensors used to measure spine angular kinematics. Oftentimes researchers will also choose to constrain the spine's movement by physically restraining the pelvis and/or using targets to control movement endpoints. Ten healthy participants were recruited, and asked to perform separate trials of 35 consecutive cycles of spine flexion under both constrained and unconstrained conditions. Electromagnetic sensors that measure three-dimensional angular orientations were positioned over the pelvis and the spinous processes of L3, L1, and T11. Using the pelvic sensor as a reference, each sensor location on the spine was used to obtain a different representation of the three-dimensional spine angular kinematics. Local dynamic stability of each kinematic time-series was determined by calculating the maximum finite-time Lyapunov exponent (λmax). Estimates for λmax were significantly lower (i.e. dynamically more stable) for spine kinematic data obtained from the L3 sensor than those obtained from kinematic data using either the L1 or T11 sensors. Likewise, λmax was lower when the movement was constrained. These results emphasize the importance of proper placement of instrumentation for quantifying local dynamic stability of spine kinematics and are especially relevant for repeated measures designs where data are obtained from the same individual on multiple days. Copyright © 2015 Elsevier Ltd. All rights reserved.

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.

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

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

Images of Axial Objects

ERIC Educational Resources Information Center

Rabal, Hector; Cap, Nelly; Trivi, Marcelo

2011-01-01

Imaging of three-dimensional objects by lenses and mirrors is sometimes poorly indicated in textbooks and can be incorrectly drawn. We stress a need to clarify the concept of longitudinal magnification, with simulated images illustrating distortions introduced along the optical axis. We consider all possible positions of the object for both a…

Estimating the positive predictive value of opportunistic population testing for gonorrhoea as part of the English Chlamydia Screening Programme.

PubMed

Fowler, T; Edeghere, O; Inglis, N; Bradshaw, S

2013-03-01

Advances in technology have raised the possibility of including gonorrhoea testing as part of chlamydia screening. In England this is recommended only where the positive predictive value (PPV) of the test is ≥90%. This study assessed the PPV for gonorrhoea testing using routine testing data. Routine data (including gonorrhoea testing) from the Greater Manchester Chlamydia Screening Programme (GMCSP) in 2009/2010, were used to estimate the PPV for gonorrhoea testing. Of those screened, 0.3% (59/18044) of men and 0.4% (174/41873) of women tested positive for gonorrhoea. The PPV was 82.3% in women and 73.6% in men, in those who also tested positive for chlamydia. For women and men testing negative for chlamydia the PPV for a positive gonorrhoea test was incalculable. The low PPV observed in most groups suggests that where population testing for gonorrhoea occurs there is a need for further confirmatory testing of positive results before treatment decisions are made. Clinicians should be aware of screening test result limitations in this context.

On the Impact of Multi-GNSS Observations on Real-Time Precise Point Positioning Zenith Total Delay Estimates

NASA Astrophysics Data System (ADS)

Ding, Wenwu; Teferle, Norman; Kaźmierski, Kamil; Laurichesse, Denis; Yuan, Yunbin

2017-04-01

Observations from multiple Global Navigation Satellite System (GNSS) can improve the performance of real-time (RT) GNSS meteorology, in particular of the Zenith Total Delay (ZTD) estimates. RT ZTD estimates in combination with derived precipitable water vapour estimates can be used for weather now-casting and the tracking of severe weather events. While a number of published literature has already highlighted this positive development, in this study we describe an operational RT system for extracting ZTD using a modified version of the PPP-wizard (with PPP denoting Precise Point Positioning). Multi-GNSS, including GPS, GLONASS and Galileo, observation streams are processed using a RT PPP strategy based on RT satellite orbit and clock products from the Centre National d'Etudes Spatiales (CNES). A continuous experiment for 30 days was conducted, in which the RT observation streams of 20 globally distributed stations were processed. The initialization time and accuracy of the RT troposphere products using single and/or multi-system observations were evaluated. The effect of RT PPP ambiguity resolution was also evaluated. The results revealed that the RT troposphere products based on single system observations can fulfill the requirements of the meteorological application in now-casting systems. We noted that the GPS-only solution is better than the GLONASS-only solution in both initialization and accuracy. While the ZTD performance can be improved by applying RT PPP ambiguity resolution, the inclusion of observations from multiple GNSS has a more profound effect. Specifically, we saw that the ambiguity resolution is more effective in improving the accuracy, whereas the initialization process can be better accelerated by multi-GNSS observations. Combining all systems, RT troposphere products with an average accuracy of about 8 mm in ZTD were achieved after an initialization process of approximately 9 minutes, which supports the application of multi-GNSS observations

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.

Tool use in left-brain-damaged patients: Difficulties in reasoning but not in estimating the physical properties of objects.

PubMed

Faye, Alexandrine; Jacquin-Courtois, Sophie; Osiurak, François

2018-03-01

The purpose of this study was to deepen our understanding of the cognitive bases of human tool use based on the technical reasoning hypothesis (i.e., the reasoning-based approach). This approach assumes that tool use is supported by the ability to reason about an object's physical properties (e.g., length, weight, strength, etc.) to perform mechanical actions (e.g., lever). In this framework, an important issue is to understand whether left-brain-damaged (LBD) individuals with tool-use deficits are still able to estimate the physical object's properties necessary to use the tool. Eleven LBD patients and 12 control participants performed 3 original experimental tasks: Use-Length (visual evaluation of the length of a stick to bring down a target), Visual-Length (to visually compare objects of different lengths) and Addition-Length (to visually compare added lengths). Participants were also tested on conventional tasks: Familiar Tool Use and Mechanical Problem-Solving (novel tools). LBD patients had more difficulties than controls on both conventional tasks. No significant differences were observed for the 3 experimental tasks. These results extend the reasoning-based approach, stressing that it might not be the representation of length that is impaired in LBD patients, but rather the ability to generate mechanical actions based on physical object properties. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Real-time detection of small and dim moving objects in IR video sequences using a robust background estimator and a noise-adaptive double thresholding

NASA Astrophysics Data System (ADS)

Zingoni, Andrea; Diani, Marco; Corsini, Giovanni

2016-10-01

We developed an algorithm for automatically detecting small and poorly contrasted (dim) moving objects in real-time, within video sequences acquired through a steady infrared camera. The algorithm is suitable for different situations since it is independent of the background characteristics and of changes in illumination. Unlike other solutions, small objects of any size (up to single-pixel), either hotter or colder than the background, can be successfully detected. The algorithm is based on accurately estimating the background at the pixel level and then rejecting it. A novel approach permits background estimation to be robust to changes in the scene illumination and to noise, and not to be biased by the transit of moving objects. Care was taken in avoiding computationally costly procedures, in order to ensure the real-time performance even using low-cost hardware. The algorithm was tested on a dataset of 12 video sequences acquired in different conditions, providing promising results in terms of detection rate and false alarm rate, independently of background and objects characteristics. In addition, the detection map was produced frame by frame in real-time, using cheap commercial hardware. The algorithm is particularly suitable for applications in the fields of video-surveillance and computer vision. Its reliability and speed permit it to be used also in critical situations, like in search and rescue, defence and disaster monitoring.

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.

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.

Object-oriented productivity metrics

NASA Technical Reports Server (NTRS)

Connell, John L.; Eller, Nancy

1992-01-01

Software productivity metrics are useful for sizing and costing proposed software and for measuring development productivity. Estimating and measuring source lines of code (SLOC) has proven to be a bad idea because it encourages writing more lines of code and using lower level languages. Function Point Analysis is an improved software metric system, but it is not compatible with newer rapid prototyping and object-oriented approaches to software development. A process is presented here for counting object-oriented effort points, based on a preliminary object-oriented analysis. It is proposed that this approach is compatible with object-oriented analysis, design, programming, and rapid prototyping. Statistics gathered on actual projects are presented to validate the approach.

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.

The cosmic evolution of Fermi BL lacertae objects

DOE PAGES

Ajello, M.; Romani, R. W.; Gasparrini, D.; ...

2013-12-13

Fermi has provided the largest sample of γ-ray-selected blazars to date. We use a uniformly selected set of 211 BL Lacertae (BL Lac) objects detected by Fermi during its first year of operation. We obtained redshift constraints for 206 out of the 211 BL Lac objects in our sample, making it the largest and most complete sample of BL Lac objects available in the literature. We use this sample to determine the luminosity function of BL Lac objects and its evolution with cosmic time. Here, we find that for most BL Lac classes the evolution is positive, with a space density peaking at modest redshift (z ≈ 1.2). Low-luminosity, high-synchrotron-peaked (HSP) BL Lac objects are an exception, showing strong negative evolution, with number density increasing for z lesssim 0.5. Since this rise corresponds to a drop-off in the density of flat-spectrum radio quasars (FSRQs), a possible interpretation is that these HSPs represent an accretion-starved end state of an earlier merger-driven gas-rich phase. Additionally, we find that the known BL Lac correlation between luminosity and photon spectral index persists after correction for the substantial observational selection effects with implications for the so-called "blazar sequence." Finally, by estimating the beaming corrections to the luminosity function, we find that BL Lac objects have an average Lorentz factor ofmore » $$\\gamma =6.1^{+1.1}_{-0.8}$$, and that most are seen within 10° of the jet axis.« less

Robust 3D Position Estimation in Wide and Unconstrained Indoor Environments

PubMed Central

Mossel, Annette

2015-01-01

In this paper, a system for 3D position estimation in wide, unconstrained indoor environments is presented that employs infrared optical outside-in tracking of rigid-body targets with a stereo camera rig. To overcome limitations of state-of-the-art optical tracking systems, a pipeline for robust target identification and 3D point reconstruction has been investigated that enables camera calibration and tracking in environments with poor illumination, static and moving ambient light sources, occlusions and harsh conditions, such as fog. For evaluation, the system has been successfully applied in three different wide and unconstrained indoor environments, (1) user tracking for virtual and augmented reality applications, (2) handheld target tracking for tunneling and (3) machine guidance for mining. The results of each use case are discussed to embed the presented approach into a larger technological and application context. The experimental results demonstrate the system’s capabilities to track targets up to 100 m. Comparing the proposed approach to prior art in optical tracking in terms of range coverage and accuracy, it significantly extends the available tracking range, while only requiring two cameras and providing a relative 3D point accuracy with sub-centimeter deviation up to 30 m and low-centimeter deviation up to 100 m. PMID:26694388

Localization of Virtual Objects in the Near Visual Field (Operator Interaction with Simple Virtual Objects)

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Menges, Brian M.

1998-01-01

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content in four experiments using a total of 38 subjects. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects' age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. These errors apparently arise from the occlusion of the physical background by the optically superimposed virtual objects. But they are modified by subjects' accommodative competence and specific viewing conditions. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are influenced by their relative position when superimposed. The design implications of the findings are discussed in a concluding section.

Photometric Data from Non-Resolved Objects for Space Object Characterization and Improved Atmospheric Modeling

NASA Astrophysics Data System (ADS)

Linares, R.; Palmer, D.; Thompson, D.; Koller, J.

2013-09-01

Recent events in space, including the collision of Russia's Cosmos 2251 satellite with Iridium 33 and China's Feng Yun 1C anti-satellite demonstration, have stressed the capabilities of Space Surveillance Network (SSN) and its ability to provide accurate and actionable impact probability estimates. The SSN network has the unique challenge of tracking more than 18,000 resident space objects (RSOs) and providing critical collision avoidance warnings to military, NASA, and commercial systems. However, due to the large number of RSOs and the limited number of sensors available to track them, it is impossible to maintain persistent surveillance. Observation gaps result in large propagation intervals between measurements and close approaches. Coupled with nonlinear RSO dynamics this results in difficulty in modeling the probability distribution functions (pdfs) of the RSO. In particular low-Earth orbiting (LEO) satellites are heavily influenced by atmospheric drag, which is very difficult to model accurately. A number of atmospheric models exist which can be classified as either empirical or physics-based models. The current Air Force standard is the High Accuracy Satellite Drag Model (HASDM), which is an empirical model based on observation of calibration satellites. These satellite observations are used to determine model parameters based on their orbit determination solutions. Atmospheric orbits are perturbed by a number of factors including drag coefficient, attitude, and shape of the space object. The satellites used for the HASDM model calibration process are chosen because of their relatively simple shapes, to minimize errors introduced due to shape miss-modeling. Under this requirement the number of calibration satellites that can be used for calibrating the atmospheric models is limited. Los Alamos National Laboratory (LANL) has established a research effort, called IMPACT (Integrated Modeling of Perturbations in Atmospheres for Conjunction Tracking), to improve

Between-object and within-object saccade programming in a visual search task.

PubMed

Vergilino-Perez, Dorine; Findlay, John M

2006-07-01

The role of the perceptual organization of the visual display on eye movement control was examined in two experiments using a task where a two-saccade sequence was directed toward either a single elongated object or three separate shorter objects. In the first experiment, we examined the consequences for the second saccade of a small displacement of the whole display during the first saccade. We found that between-object saccades compensated for the displacement to aim for a target position on the new object whereas within-object saccades did not show compensation but were coded as a fixed motor vector applied irrespective of wherever the preceding saccade landed. In the second experiment, we extended the paradigm to examine saccades performed in different directions. The results suggest that the within-object and between-object saccade distinction is an essential feature of saccadic planning.

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.

Manipulation after object rotation reveals independent sensorimotor memory representations of digit positions and forces.

PubMed

Zhang, Wei; Gordon, Andrew M; Fu, Qiushi; Santello, Marco

2010-06-01

Planning of object manipulations is dependent on the ability to generate, store, and retrieve sensorimotor memories of previous actions associated with grasped objects. However, the sensorimotor memory representations linking object properties to the planning of grasp are not well understood. Here we use an object rotation task to gain insight into the mechanisms underlying the nature of these sensorimotor memories. We asked subjects to grasp a grip device with an asymmetrical center of mass (CM) anywhere on its vertical surfaces and lift it while minimizing object roll. After subjects learned to minimize object roll by generating a compensatory moment, they were asked to rotate the object 180 degrees about a vertical axis and lift it again. The rotation resulted in changing the direction of external moment opposite to that experienced during the prerotation block. Anticipatory grasp control was quantified by measuring the compensatory moment generated at object lift onset by thumb and index finger forces through their respective application points. On the first postrotation trial, subjects failed to generate a compensatory moment to counter the external moment caused by the new CM location, thus resulting in a large object roll. Nevertheless, after several object rotations subjects reduced object roll on the initial postrotation trials by anticipating the new CM location through the modulation of digit placement but not tangential forces. The differential improvement in modulating these two variables supports the notion of independent memory representations of kinematics and kinetics and is discussed in relation to neural mechanisms underlying visuomotor transformations.

Manipulation After Object Rotation Reveals Independent Sensorimotor Memory Representations of Digit Positions and Forces

PubMed Central

Zhang, Wei; Gordon, Andrew M.; Fu, Qiushi

2010-01-01

Planning of object manipulations is dependent on the ability to generate, store, and retrieve sensorimotor memories of previous actions associated with grasped objects. However, the sensorimotor memory representations linking object properties to the planning of grasp are not well understood. Here we use an object rotation task to gain insight into the mechanisms underlying the nature of these sensorimotor memories. We asked subjects to grasp a grip device with an asymmetrical center of mass (CM) anywhere on its vertical surfaces and lift it while minimizing object roll. After subjects learned to minimize object roll by generating a compensatory moment, they were asked to rotate the object 180° about a vertical axis and lift it again. The rotation resulted in changing the direction of external moment opposite to that experienced during the prerotation block. Anticipatory grasp control was quantified by measuring the compensatory moment generated at object lift onset by thumb and index finger forces through their respective application points. On the first postrotation trial, subjects failed to generate a compensatory moment to counter the external moment caused by the new CM location, thus resulting in a large object roll. Nevertheless, after several object rotations subjects reduced object roll on the initial postrotation trials by anticipating the new CM location through the modulation of digit placement but not tangential forces. The differential improvement in modulating these two variables supports the notion of independent memory representations of kinematics and kinetics and is discussed in relation to neural mechanisms underlying visuomotor transformations. PMID:20357064

The impact of higher-order ionospheric effects on estimated tropospheric parameters in Precise Point Positioning

NASA Astrophysics Data System (ADS)

Zus, F.; Deng, Z.; Wickert, J.

2017-08-01

The impact of higher-order ionospheric effects on the estimated station coordinates and clocks in Global Navigation Satellite System (GNSS) Precise Point Positioning (PPP) is well documented in literature. Simulation studies reveal that higher-order ionospheric effects have a significant impact on the estimated tropospheric parameters as well. In particular, the tropospheric north-gradient component is most affected for low-latitude and midlatitude stations around noon. In a practical example we select a few hundred stations randomly distributed over the globe, in March 2012 (medium solar activity), and apply/do not apply ionospheric corrections in PPP. We compare the two sets of tropospheric parameters (ionospheric corrections applied/not applied) and find an overall good agreement with the prediction from the simulation study. The comparison of the tropospheric parameters with the tropospheric parameters derived from the ERA-Interim global atmospheric reanalysis shows that ionospheric corrections must be consistently applied in PPP and the orbit and clock generation. The inconsistent application results in an artificial station displacement which is accompanied by an artificial "tilting" of the troposphere. This finding is relevant in particular for those who consider advanced GNSS tropospheric products for meteorological studies.

Estimation of slip distribution using an inverse method based on spectral decomposition of Green's function utilizing Global Positioning System (GPS) data

NASA Astrophysics Data System (ADS)

Jin, Honglin; Kato, Teruyuki; Hori, Muneo

2007-07-01

An inverse method based on the spectral decomposition of the Green's function was employed for estimating a slip distribution. We conducted numerical simulations along the Philippine Sea plate (PH) boundary in southwest Japan using this method to examine how to determine the essential parameters which are the number of deformation function modes and their coefficients. Japanese GPS Earth Observation Network (GEONET) Global Positioning System (GPS) data were used for three years covering 1997-1999 to estimate interseismic back slip distribution in this region. The estimated maximum back slip rate is about 7 cm/yr, which is consistent with the Philippine Sea plate convergence rate. Areas of strong coupling are confined between depths of 10 and 30 km and three areas of strong coupling were delineated. These results are consistent with other studies that have estimated locations of coupling distribution.

Noise estimation of beam position monitors at RHIC

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

Shen, X.; Bai, M.; Lee, S. Y.

2014-02-10

Beam position monitors (BPM) are used to record the average orbits and transverse turn-by-turn displacements of the beam centroid motion. The Relativistic Hadron Ion Collider (RHIC) has 160 BPMs for each plane in each of the Blue and Yellow rings: 72 dual-plane BPMs in the insertion regions (IR) and 176 single-plane modules in the arcs. Each BPM is able to acquire 1024 or 4096 consecutive turn-by-turn beam positions. Inevitably, there are broadband noisy signals in the turn-by-turn data due to BPM electronics as well as other sources. A detailed study of the BPM noise performance is critical for reliable opticsmore » measurement and beam dynamics analysis based on turn-by-turn data.« less

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.

False positive circumsporozoite protein ELISA: a challenge for the estimation of the entomological inoculation rate of malaria and for vector incrimination

PubMed Central

2011-01-01

Background The entomological inoculation rate (EIR) is an important indicator in estimating malaria transmission and the impact of vector control. To assess the EIR, the enzyme-linked immunosorbent assay (ELISA) to detect the circumsporozoite protein (CSP) is increasingly used. However, several studies have reported false positive results in this ELISA. The false positive results could lead to an overestimation of the EIR. The aim of present study was to estimate the level of false positivity among different anopheline species in Cambodia and Vietnam and to check for the presence of other parasites that might interact with the anti-CSP monoclonal antibodies. Methods Mosquitoes collected in Cambodia and Vietnam were identified and tested for the presence of sporozoites in head and thorax by using CSP-ELISA. ELISA positive samples were confirmed by a Plasmodium specific PCR. False positive mosquitoes were checked by PCR for the presence of parasites belonging to the Haemosporidia, Trypanosomatidae, Piroplasmida, and Haemogregarines. The heat-stability and the presence of the cross-reacting antigen in the abdomen of the mosquitoes were also checked. Results Specimens (N = 16,160) of seven anopheline species were tested by CSP-ELISA for Plasmodium falciparum and Plasmodium vivax (Pv210 and Pv247). Two new vector species were identified for the region: Anopheles pampanai (P. vivax) and Anopheles barbirostris (Plasmodium malariae). In 88% (155/176) of the mosquitoes found positive with the P. falciparum CSP-ELISA, the presence of Plasmodium sporozoites could not be confirmed by PCR. This percentage was much lower (28% or 5/18) for P. vivax CSP-ELISAs. False positive CSP-ELISA results were associated with zoophilic mosquito species. None of the targeted parasites could be detected in these CSP-ELISA false positive mosquitoes. The ELISA reacting antigen of P. falciparum was heat-stable in CSP-ELISA true positive specimens, but not in the false positives. The heat

Objective measurements of the penile angulation are significantly different than self-estimated magnitude among patients with penile curvature.

PubMed

Liguori, Giovanni; Salonia, Andrea; Garaffa, Giulio; Chiriacò, Giovanni; Pavan, Nicola; Cavallini, Giorgio; Trombetta, Carlo

2018-01-01

The study was aimed to assess the presence of actual differences between the objective and the perceived magnitude of a curvature between patients affected by Peyronie's disease (PD) and congenital penile curvature (CPC). Wee analysed a cohort of 88 consecutive patients seeking medical help for either CPC or PD. All patients were invited to provide a self-made drawing of their penis in erection in order to obtain self-provided description of the deformity. An objective measurement of the deformity was also performed drawing two intersecting lines through the center of the distal and proximal straight section of the penile shaft. Our findings showed significant differences between patient self-estimation and the objective measurements of the penile angulation performed by trained experts, with only 32% of patients correctly assessing their own curvature. Overall, patients tended to overestimate (56%) their degree of curvature, but the results are different in patients with PD than those with CPC. In the 60 men (68%) who did not accurately assess their curvature, PD patients generally overestimated their curvature versus CPC patients (67% vs 16%). On the contrary CPC patients underestimated their curvature compared to PD (42% vs. 4%). In order to improve patients' satisfaction rates, the surgeon needs to take into consideration the patient's perception of the deformity when planning the type of surgical correction. Copyright® by the International Brazilian Journal of Urology.

Association between subjective risk perception and objective risk estimation in patients with atrial fibrillation: a cross-sectional study.

PubMed

Zweiker, David; Zweiker, Robert; Winkler, Elisabeth; Roesch, Konstantina; Schumacher, Martin; Stepan, Vinzenz; Krippl, Peter; Bauer, Norbert; Heine, Martin; Reicht, Gerhard; Zweiker, Gudrun; Sprenger, Martin; Watzinger, Norbert

2017-09-25

Oral anticoagulation (OAC) is state-of-the-art therapy for atrial fibrillation (AF), the most common arrhythmia worldwide. However, little is known about the perception of patients with AF and how it correlates with risk scores used by their physicians. Therefore, we correlated patients' estimates of their own stroke and bleeding risk with the objectively predicted individual risk using CHA 2 DS 2 -VASc and HAS-BLED scores. Cross-sectional prevalence study using convenience sampling and telephone follow-up. Eight hospital departments and one general practitioner in Austria. Patients' perception of stroke and bleeding risk was opposed to commonly used risk scoring. Patients with newly diagnosed AF and indication for anticoagulation. Comparison of subjective risk perception with CHA 2 DS 2 -VASc and HAS-BLED scores showing possible discrepancies between subjective and objective risk estimation. Patients' judgement of their own knowledge on AF and education were also correlated with accuracy of subjective risk appraisal. Ninety-one patients (age 73±11 years, 45% female) were included in this study. Subjective stroke and bleeding risk estimation did not correlate with risk scores (ρ=0.08 and ρ=0.17). The majority of patients (57%) underestimated the individual stroke risk. Patients feared stroke more than bleeding (67% vs 10%). There was no relationship between accurate perception of stroke and bleeding risks and education level. However, we found a correlation between the patients' judgement of their own knowledge of AF and correct assessment of individual stroke risk (ρ=0.24, p=0.02). During follow-up, patients experienced the following events: death (n=5), stroke (n=2), bleeding (n=1). OAC discontinuation rate despite indication was 3%. In this cross-sectional analysis of OAC-naive patients with AF, we found major differences between patients' perceptions and physicians' assessments of risks and benefits of OAC. To ensure shared decision-making and informed

Algorithm for pose estimation based on objective function with uncertainty-weighted measuring error of feature point cling to the curved surface.

PubMed

Huo, Ju; Zhang, Guiyang; Yang, Ming

2018-04-20

This paper is concerned with the anisotropic and non-identical gray distribution of feature points clinging to the curved surface, upon which a high precision and uncertainty-resistance algorithm for pose estimation is proposed. Weighted contribution of uncertainty to the objective function of feature points measuring error is analyzed. Then a novel error objective function based on the spatial collinear error is constructed by transforming the uncertainty into a covariance-weighted matrix, which is suitable for the practical applications. Further, the optimized generalized orthogonal iterative (GOI) algorithm is utilized for iterative solutions such that it avoids the poor convergence and significantly resists the uncertainty. Hence, the optimized GOI algorithm extends the field-of-view applications and improves the accuracy and robustness of the measuring results by the redundant information. Finally, simulation and practical experiments show that the maximum error of re-projection image coordinates of the target is less than 0.110 pixels. Within the space 3000  mm×3000  mm×4000  mm, the maximum estimation errors of static and dynamic measurement for rocket nozzle motion are superior to 0.065° and 0.128°, respectively. Results verify the high accuracy and uncertainty attenuation performance of the proposed approach and should therefore have potential for engineering applications.

Automatic estimation of detector radial position for contoured SPECT acquisition using CT images on a SPECT/CT system.

PubMed

Liu, Ruijie Rachel; Erwin, William D

2006-08-01

An algorithm was developed to estimate noncircular orbit (NCO) single-photon emission computed tomography (SPECT) detector radius on a SPECT/CT imaging system using the CT images, for incorporation into collimator resolution modeling for iterative SPECT reconstruction. Simulated male abdominal (arms up), male head and neck (arms down) and female chest (arms down) anthropomorphic phantom, and ten patient, medium-energy SPECT/CT scans were acquired on a hybrid imaging system. The algorithm simulated inward SPECT detector radial motion and object contour detection at each projection angle, employing the calculated average CT image and a fixed Hounsfield unit (HU) threshold. Calculated radii were compared to the observed true radii, and optimal CT threshold values, corresponding to patient bed and clothing surfaces, were found to be between -970 and -950 HU. The algorithm was constrained by the 45 cm CT field-of-view (FOV), which limited the detected radii to < or = 22.5 cm and led to occasional radius underestimation in the case of object truncation by CT. Two methods incorporating the algorithm were implemented: physical model (PM) and best fit (BF). The PM method computed an offset that produced maximum overlap of calculated and true radii for the phantom scans, and applied that offset as a calculated-to-true radius transformation. For the BF method, the calculated-to-true radius transformation was based upon a linear regression between calculated and true radii. For the PM method, a fixed offset of +2.75 cm provided maximum calculated-to-true radius overlap for the phantom study, which accounted for the camera system's object contour detect sensor surface-to-detector face distance. For the BF method, a linear regression of true versus calculated radius from a reference patient scan was used as a calculated-to-true radius transform. Both methods were applied to ten patient scans. For -970 and -950 HU thresholds, the combined overall average root-mean-square (rms

A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots

NASA Astrophysics Data System (ADS)

Imahama, Takuya; Watanabe, Keigo; Mikuriya, Kota; Nagai, Isaku

2018-02-01

In recent years, the demand of underwater investigation is increasing in the circumference of a dam, the environmental research of the shallow where approach by ship is difficult, etc. It is known, however, that for man, all over the sea, danger exists mostly, and prolonged diving has a bad influence to a human body. Then, the development of underwater exploration robots that investigate underwater instead of humans is expected. Among underwater exploration robots, it is known that robots imitating aquatic organisms have little influence on underwater environment. Therefore, at this laboratory, a Manta robot using propulsive mechanisms with pectoral fins was developed, imitating the pectoral fin of Manta. Although underwater environmental research needs a function for estimating the self-position, it is not mounted in this Manta robot. This paper explains the amount estimation of movements using optical flows. Especially, a gimbal mechanism is introduced to reduce the influence on the optical flow calculation by pitch motion of the Manta robot. Several experiments are conducted to demonstrate the usefulness of the proposed method.

The conjunction of non-consciously perceived object identity and spatial position can be retained during a visual short-term memory task.

PubMed

Bergström, Fredrik; Eriksson, Johan

2015-01-01

Although non-consciously perceived information has previously been assumed to be short-lived (< 500 ms), recent findings show that non-consciously perceived information can be maintained for at least 15 s. Such findings can be explained as working memory without a conscious experience of the information to be retained. However, whether or not working memory can operate on non-consciously perceived information remains controversial, and little is known about the nature of such non-conscious visual short-term memory (VSTM). Here we used continuous flash suppression to render stimuli non-conscious, to investigate the properties of non-consciously perceived representations in delayed match-to-sample (DMS) tasks. In Experiment I we used variable delays (5 or 15 s) and found that performance was significantly better than chance and was unaffected by delay duration, thereby replicating previous findings. In Experiment II the DMS task required participants to combine information of spatial position and object identity on a trial-by-trial basis to successfully solve the task. We found that the conjunction of spatial position and object identity was retained, thereby verifying that non-conscious, trial-specific information can be maintained for prospective use. We conclude that our results are consistent with a working memory interpretation, but that more research is needed to verify this interpretation.

Ionospheric Slant Total Electron Content Analysis Using Global Positioning System Based Estimation

NASA Technical Reports Server (NTRS)

Komjathy, Attila (Inventor); Mannucci, Anthony J. (Inventor); Sparks, Lawrence C. (Inventor)

2017-01-01

A method, system, apparatus, and computer program product provide the ability to analyze ionospheric slant total electron content (TEC) using global navigation satellite systems (GNSS)-based estimation. Slant TEC is estimated for a given set of raypath geometries by fitting historical GNSS data to a specified delay model. The accuracy of the specified delay model is estimated by computing delay estimate residuals and plotting a behavior of the delay estimate residuals. An ionospheric threat model is computed based on the specified delay model. Ionospheric grid delays (IGDs) and grid ionospheric vertical errors (GIVEs) are computed based on the ionospheric threat model.

An enhanced multi-view vertical line locus matching algorithm of object space ground primitives based on positioning consistency for aerial and space images

NASA Astrophysics Data System (ADS)

Zhang, Ka; Sheng, Yehua; Wang, Meizhen; Fu, Suxia

2018-05-01

The traditional multi-view vertical line locus (TMVLL) matching method is an object-space-based method that is commonly used to directly acquire spatial 3D coordinates of ground objects in photogrammetry. However, the TMVLL method can only obtain one elevation and lacks an accurate means of validating the matching results. In this paper, we propose an enhanced multi-view vertical line locus (EMVLL) matching algorithm based on positioning consistency for aerial or space images. The algorithm involves three components: confirming candidate pixels of the ground primitive in the base image, multi-view image matching based on the object space constraints for all candidate pixels, and validating the consistency of the object space coordinates with the multi-view matching result. The proposed algorithm was tested using actual aerial images and space images. Experimental results show that the EMVLL method successfully solves the problems associated with the TMVLL method, and has greater reliability, accuracy and computing efficiency.

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.

Improving estimates of the number of `fake' leptons and other mis-reconstructed objects in hadron collider events: BoB's your UNCLE

NASA Astrophysics Data System (ADS)

Gillam, Thomas P. S.; Lester, Christopher G.

2014-11-01

We consider current and alternative approaches to setting limits on new physics signals having backgrounds from misidentified objects; for example jets misidentified as leptons, b-jets or photons. Many ATLAS and CMS analyses have used a heuristic "matrix method" for estimating the background contribution from such sources. We demonstrate that the matrix method suffers from statistical shortcomings that can adversely affect its ability to set robust limits. A rigorous alternative method is discussed, and is seen to produce fake rate estimates and limits with better qualities, but is found to be too costly to use. Having investigated the nature of the approximations used to derive the matrix method, we propose a third strategy that is seen to marry the speed of the matrix method to the performance and physicality of the more rigorous approach.

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

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

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

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

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.

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

Trajectory Recognition as the Basis for Object Individuation: A Functional Model of Object File Instantiation and Object-Token Encoding

PubMed Central

Fields, Chris

2011-01-01

The perception of persisting visual objects is mediated by transient intermediate representations, object files, that are instantiated in response to some, but not all, visual trajectories. The standard object file concept does not, however, provide a mechanism sufficient to account for all experimental data on visual object persistence, object tracking, and the ability to perceive spatially disconnected stimuli as continuously existing objects. Based on relevant anatomical, functional, and developmental data, a functional model is constructed that bases visual object individuation on the recognition of temporal sequences of apparent center-of-mass positions that are specifically identified as trajectories by dedicated “trajectory recognition networks” downstream of the medial–temporal motion-detection area. This model is shown to account for a wide range of data, and to generate a variety of testable predictions. Individual differences in the recognition, abstraction, and encoding of trajectory information are expected to generate distinct object persistence judgments and object recognition abilities. Dominance of trajectory information over feature information in stored object tokens during early infancy, in particular, is expected to disrupt the ability to re-identify human and other individuals across perceptual episodes, and lead to developmental outcomes with characteristics of autism spectrum disorders. PMID:21716599

Estimating US federal wildland fire managers' preferences toward competing strategic suppression objectives

Treesearch

David E. Calkin; Tyron Venn; Matthew Wibbenmeyer; Matthew P. Thompson

2012-01-01

Wildfire management involves significant complexity and uncertainty, requiring simultaneous consideration of multiple, non-commensurate objectives. This paper investigates the tradeoffs fire managers are willing to make among these objectives using a choice experiment methodology that provides three key advancements relative to previous stated-preference studies...

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.

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.

Improving Objective Measures of Mobility.

ERIC Educational Resources Information Center

Dodds, Allan G.; And Others

1983-01-01

The article examines shortcomings in existing objective measures of mobility for blind persons in the light of evaluative experiences and demonstrates improvements in reliability, together with a new technique for tracking pavement position. It refutes the idea that it is not possible to measure improvement in performance objectively. (Author/CL)

Addendum to the article: Misuse of null hypothesis significance testing: Would estimation of positive and negative predictive values improve certainty of chemical risk assessment?

PubMed

Bundschuh, Mirco; Newman, Michael C; Zubrod, Jochen P; Seitz, Frank; Rosenfeldt, Ricki R; Schulz, Ralf

2015-03-01

We argued recently that the positive predictive value (PPV) and the negative predictive value (NPV) are valuable metrics to include during null hypothesis significance testing: They inform the researcher about the probability of statistically significant and non-significant test outcomes actually being true. Although commonly misunderstood, a reported p value estimates only the probability of obtaining the results or more extreme results if the null hypothesis of no effect was true. Calculations of the more informative PPV and NPV require a priori estimate of the probability (R). The present document discusses challenges of estimating R.

An anti-disturbing real time pose estimation method and system

NASA Astrophysics Data System (ADS)

Zhou, Jian; Zhang, Xiao-hu

2011-08-01

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.

On differences of linear positive operators

NASA Astrophysics Data System (ADS)

Aral, Ali; Inoan, Daniela; Raşa, Ioan

2018-04-01

In this paper we consider two different general linear positive operators defined on unbounded interval and obtain estimates for the differences of these operators in quantitative form. Our estimates involve an appropriate K-functional and a weighted modulus of smoothness. Similar estimates are obtained for Chebyshev functional of these operators as well. All considerations are based on rearrangement of the remainder in Taylor's formula. The obtained results are applied for some well known linear positive operators.

No Evidence for a Fixed Object Limit in Working Memory: Spatial Ensemble Representations Inflate Estimates of Working Memory Capacity for Complex Objects

ERIC Educational Resources Information Center

Brady, Timothy F.; Alvarez, George A.

2015-01-01

A central question for models of visual working memory is whether the number of objects people can remember depends on object complexity. Some influential "slot" models of working memory capacity suggest that people always represent 3-4 objects and that only the fidelity with which these objects are represented is affected by object…

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.

Functional dissociation between action and perception of object shape in developmental visual object agnosia.

PubMed

Freud, Erez; Ganel, Tzvi; Avidan, Galia; Gilaie-Dotan, Sharon

2016-03-01

According to the two visual systems model, the cortical visual system is segregated into a ventral pathway mediating object recognition, and a dorsal pathway mediating visuomotor control. In the present study we examined whether the visual control of action could develop normally even when visual perceptual abilities are compromised from early childhood onward. Using his fingers, LG, an individual with a rare developmental visual object agnosia, manually estimated (perceptual condition) the width of blocks that varied in width and length (but not in overall size), or simply picked them up across their width (grasping condition). LG's perceptual sensitivity to target width was profoundly impaired in the manual estimation task compared to matched controls. In contrast, the sensitivity to object shape during grasping, as measured by maximum grip aperture (MGA), the time to reach the MGA, the reaction time and the total movement time were all normal in LG. Further analysis, however, revealed that LG's sensitivity to object shape during grasping emerged at a later time stage during the movement compared to controls. Taken together, these results demonstrate a dissociation between action and perception of object shape, and also point to a distinction between different stages of the grasping movement, namely planning versus online control. Moreover, the present study implies that visuomotor abilities can develop normally even when perceptual abilities developed in a profoundly impaired fashion. Copyright © 2016 Elsevier Ltd. All rights reserved.

Method for detecting a mass density image of an object

DOEpatents

Wernick, Miles N [Chicago, IL; Yang, Yongyi [Westmont, IL

2008-12-23

A method for detecting a mass density image of an object. An x-ray beam is transmitted through the object and a transmitted beam is emitted from the object. The transmitted beam is directed at an angle of incidence upon a crystal analyzer. A diffracted beam is emitted from the crystal analyzer onto a detector and digitized. A first image of the object is detected from the diffracted beam emitted from the crystal analyzer when positioned at a first angular position. A second image of the object is detected from the diffracted beam emitted from the crystal analyzer when positioned at a second angular position. A refraction image is obtained and a regularized mathematical inversion algorithm is applied to the refraction image to obtain a mass density image.

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.

[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.

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

Systems and methods for estimating the structure and motion of an object

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

Dani, Ashwin P; Dixon, Warren

2015-11-03

In one embodiment, the structure and motion of a stationary object are determined using two images and a linear velocity and linear acceleration of a camera. In another embodiment, the structure and motion of a stationary or moving object are determined using an image and linear and angular velocities of a camera.

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.

Improved ultrasound transducer positioning by fetal heart location estimation during Doppler based heart rate measurements.

PubMed

Hamelmann, Paul; Vullings, Rik; Schmitt, Lars; Kolen, Alexander F; Mischi, Massimo; van Laar, Judith O E H; Bergmans, Jan W M

2017-09-21

Doppler ultrasound (US) is the most commonly applied method to measure the fetal heart rate (fHR). When the fetal heart is not properly located within the ultrasonic beam, fHR measurements often fail. As a consequence, clinical staff need to reposition the US transducer on the maternal abdomen, which can be a time consuming and tedious task. In this article, a method is presented to aid clinicians with the positioning of the US transducer to produce robust fHR measurements. A maximum likelihood estimation (MLE) algorithm is developed, which provides information on fetal heart location using the power of the Doppler signals received in the individual elements of a standard US transducer for fHR recordings. The performance of the algorithm is evaluated with simulations and in vitro experiments performed on a beating-heart setup. Both the experiments and the simulations show that the heart location can be accurately determined with an error of less than 7 mm within the measurement volume of the employed US transducer. The results show that the developed algorithm can be used to provide accurate feedback on fetal heart location for improved positioning of the US transducer, which may lead to improved measurements of the fHR.

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.

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

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.

Higher Level Visual Cortex Represents Retinotopic, Not Spatiotopic, Object Location

PubMed Central

Kanwisher, Nancy

2012-01-01

The crux of vision is to identify objects and determine their locations in the environment. Although initial visual representations are necessarily retinotopic (eye centered), interaction with the real world requires spatiotopic (absolute) location information. We asked whether higher level human visual cortex—important for stable object recognition and action—contains information about retinotopic and/or spatiotopic object position. Using functional magnetic resonance imaging multivariate pattern analysis techniques, we found information about both object category and object location in each of the ventral, dorsal, and early visual regions tested, replicating previous reports. By manipulating fixation position and stimulus position, we then tested whether these location representations were retinotopic or spatiotopic. Crucially, all location information was purely retinotopic. This pattern persisted when location information was irrelevant to the task, and even when spatiotopic (not retinotopic) stimulus position was explicitly emphasized. We also conducted a “searchlight” analysis across our entire scanned volume to explore additional cortex but again found predominantly retinotopic representations. The lack of explicit spatiotopic representations suggests that spatiotopic object position may instead be computed indirectly and continually reconstructed with each eye movement. Thus, despite our subjective impression that visual information is spatiotopic, even in higher level visual cortex, object location continues to be represented in retinotopic coordinates. PMID:22190434

Distributed estimation of sensors position in underwater wireless sensor network

NASA Astrophysics Data System (ADS)

Zandi, Rahman; Kamarei, Mahmoud; Amiri, Hadi

2016-05-01

In this paper, a localisation method for determining the position of fixed sensor nodes in an underwater wireless sensor network (UWSN) is introduced. In this simple and range-free scheme, the node localisation is achieved by utilising an autonomous underwater vehicle (AUV) that transverses through the network deployment area, and that periodically emits a message block via four directional acoustic beams. A message block contains the actual known AUV position as well as a directional dependent marker that allows a node to identify the respective transmit beam. The beams form a fixed angle with the AUV body. If a node passively receives message blocks, it could calculate the arithmetic mean of the coordinates existing in each messages sequence, to find coordinates at two different time instants via two different successive beams. The node position can be derived from the two computed positions of the AUV. The major advantage of the proposed localisation algorithm is that it is silent, which leads to energy efficiency for sensor nodes. The proposed method does not require any synchronisation among the nodes owing to being silent. Simulation results, using MATLAB, demonstrated that the proposed method had better performance than other similar AUV-based localisation methods in terms of the rates of well-localised sensor nodes and positional root mean square error.

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.

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

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.

Designing occupancy studies when false-positive detections occur

USGS Publications Warehouse

Clement, Matthew

2016-01-01

1.Recently, estimators have been developed to estimate occupancy probabilities when false-positive detections occur during presence-absence surveys. Some of these estimators combine different types of survey data to improve estimates of occupancy. With these estimators, there is a tradeoff between the number of sample units surveyed, and the number and type of surveys at each sample unit. Guidance on efficient design of studies when false positives occur is unavailable. 2.For a range of scenarios, I identified survey designs that minimized the mean square error of the estimate of occupancy. I considered an approach that uses one survey method and two observation states and an approach that uses two survey methods. For each approach, I used numerical methods to identify optimal survey designs when model assumptions were met and parameter values were correctly anticipated, when parameter values were not correctly anticipated, and when the assumption of no unmodelled detection heterogeneity was violated. 3.Under the approach with two observation states, false positive detections increased the number of recommended surveys, relative to standard occupancy models. If parameter values could not be anticipated, pessimism about detection probabilities avoided poor designs. Detection heterogeneity could require more or fewer repeat surveys, depending on parameter values. If model assumptions were met, the approach with two survey methods was inefficient. However, with poor anticipation of parameter values, with detection heterogeneity, or with removal sampling schemes, combining two survey methods could improve estimates of occupancy. 4.Ignoring false positives can yield biased parameter estimates, yet false positives greatly complicate the design of occupancy studies. Specific guidance for major types of false-positive occupancy models, and for two assumption violations common in field data, can conserve survey resources. This guidance can be used to design efficient

On the Indirect Object in English.

ERIC Educational Resources Information Center

DeArmond, Richard C.

The aim of this paper is to determine whether the first predicate noun (NP) after the verb in sentences such as "Kelly gave Rose a piano" is the direct object or the indirect object in the surface structure of English. An analysis reveals that the direct object in English is not marked by its position immediately after a (transitive)…

Estimation of Target Angular Position Under Mainbeam Jamming Conditions,

DTIC Science & Technology

1995-12-01

technique, Multiple Signal Classification ( MUSIC ), is used to estimate the target Direction Of Arrival (DOA) from the processed data vectors. The model...used in the MUSIC technique takes into account the fact that the jammer has been cancelled in the target data vector. The performance of this algorithm

Joint Bearing and Range Estimation of Multiple Objects from Time-Frequency Analysis.

PubMed

Liu, Jeng-Cheng; Cheng, Yuang-Tung; Hung, Hsien-Sen

2018-01-19

Direction-of-arrival (DOA) and range estimation is an important issue of sonar signal processing. In this paper, a novel approach using Hilbert-Huang transform (HHT) is proposed for joint bearing and range estimation of multiple targets based on a uniform linear array (ULA) of hydrophones. The structure of this ULA based on micro-electro-mechanical systems (MEMS) technology, and thus has attractive features of small size, high sensitivity and low cost, and is suitable for Autonomous Underwater Vehicle (AUV) operations. This proposed target localization method has the following advantages: only a single snapshot of data is needed and real-time processing is feasible. The proposed algorithm transforms a very complicated nonlinear estimation problem to a simple nearly linear one via time-frequency distribution (TFD) theory and is verified with HHT. Theoretical discussions of resolution issue are also provided to facilitate the design of a MEMS sensor with high sensitivity. Simulation results are shown to verify the effectiveness of the proposed method.

Number of discernible object colors is a conundrum.

PubMed

Masaoka, Kenichiro; Berns, Roy S; Fairchild, Mark D; Moghareh Abed, Farhad

2013-02-01

Widely varying estimates of the number of discernible object colors have been made by using various methods over the past 100 years. To clarify the source of the discrepancies in the previous, inconsistent estimates, the number of discernible object colors is estimated over a wide range of color temperatures and illuminance levels using several chromatic adaptation models, color spaces, and color difference limens. Efficient and accurate models are used to compute optimal-color solids and count the number of discernible colors. A comprehensive simulation reveals limitations in the ability of current color appearance models to estimate the number of discernible colors even if the color solid is smaller than the optimal-color solid. The estimates depend on the color appearance model, color space, and color difference limen used. The fundamental problem lies in the von Kries-type chromatic adaptation transforms, which have an unknown effect on the ranking of the number of discernible colors at different color temperatures.

Use of Shark Dental Protein to Estimate Trophic Position via Amino Acid Compound-Specific Isotope Analysis

NASA Astrophysics Data System (ADS)

Hayes, M.; Herbert, G.; Ellis, G.

2017-12-01

The diets of apex predators such as sharks are expected to change in response to overfishing of their mesopredator prey, but pre-anthropogenic baselines necessary to test for such changes are lacking. Stable isotope analysis (SIA) of soft tissues is commonly used to study diets in animals based on the bioaccumulation of heavier isotopes of carbon and nitrogen with increasing trophic level. In specimens representing pre-anthropogenic baselines, however, a modified SIA approach is needed to deal with taphonomic challenges, such as loss of soft tissues or selective loss of less stable amino acids (AAs) in other sources of organic compounds (e.g., teeth or bone) which can alter bulk isotope values. These challenges can be overcome with a compound-specific isotope analysis of individual AAs (AA-CSIA), but this first requires a thorough understanding of trophic enrichment factors for individual AAs within biomineralized tissues. In this study, we compare dental and muscle proteins of individual sharks via AA-CSIA to determine how trophic position is recorded within teeth and whether that information differs from that obtained from soft tissues. If skeletal organics reliably record information about shark ecology, then archaeological and perhaps paleontological specimens can be used to investigate pre-anthropogenic ecosystems. Preliminary experiments show that the commonly used glutamic acid/phenylalanine AA pairing may not be useful for establishing trophic position from dental proteins, but that estimated trophic position determined from alternate AA pairs are comparable to those from muscle tissue within the same species.

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