Sample records for problemes sanitaires poses

  1. Assessing Students' Mathematical Problem Posing

    ERIC Educational Resources Information Center

    Silver, Edward A.; Cai, Jinfa

    2005-01-01

    Specific examples are used to discuss assessment, an integral part of mathematics instruction, with problem posing and assessment of problem posing. General assessment criteria are suggested to evaluate student-generated problems in terms of their quantity, originality, and complexity.

  2. Problem Posing with the Multiplication Table

    ERIC Educational Resources Information Center

    Dickman, Benjamin

    2014-01-01

    Mathematical problem posing is an important skill for teachers of mathematics, and relates readily to mathematical creativity. This article gives a bit of background information on mathematical problem posing, lists further references to connect problem posing and creativity, and then provides 20 problems based on the multiplication table to be…

  3. Student-Posed Problems

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    Harper, Kathleen A.; Etkina, Eugenia

    2002-10-01

    As part of weekly reports,1 structured journals in which students answer three standard questions each week, they respond to the prompt, If I were the instructor, what questions would I ask or problems assign to determine if my students understood the material? An initial analysis of the results shows that some student-generated problems indicate fundamental misunderstandings of basic physical concepts. A further investigation explores the relevance of the problems to the week's material, whether the problems are solvable, and the type of problems (conceptual or calculation-based) written. Also, possible links between various characteristics of the problems and conceptual achievement are being explored. The results of this study spark many more questions for further work. A summary of current findings will be presented, along with its relationship to previous work concerning problem posing.2 1Etkina, E. Weekly Reports;A Two-Way Feedback Tool, Science Education, 84, 594-605 (2000). 2Mestre, J.P., Probing Adults Conceptual Understanding and Transfer of Learning Via Problem Posing, Journal of Applied Developmental Psychology, 23, 9-50 (2002).

  4. Interlocked Problem Posing and Children's Problem Posing Performance in Free Structured Situations

    ERIC Educational Resources Information Center

    Cankoy, Osman

    2014-01-01

    The aim of this study is to explore the mathematical problem posing performance of students in free structured situations. Two classes of fifth grade students (N = 30) were randomly assigned to experimental and control groups. The categories of the problems posed in free structured situations by the 2 groups of students were studied through…

  5. Students’ Creativity: Problem Posing in Structured Situation

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    Amalina, I. K.; Amirudin, M.; Budiarto, M. T.

    2018-01-01

    This is a qualitative research concerning on students’ creativity on problem posing task. The study aimed at describing the students’ creative thinking ability to pose the mathematics problem in structured situations with varied condition of given problems. In order to find out the students’ creative thinking ability, an analysis of mathematics problem posing test based on fluency, novelty, and flexibility and interview was applied for categorizing students’ responses on that task. The data analysis used the quality of problem posing and categorized in 4 level of creativity. The results revealed from 29 secondary students grade 8, a student in CTL (Creative Thinking Level) 1 met the fluency. A student in CTL 2 met the novelty, while a student in CTL 3 met both fluency and novelty and no one in CTL 4. These results are affected by students’ mathematical experience. The findings of this study highlight that student’s problem posing creativity are dependent on their experience in mathematics learning and from the point of view of which students start to pose problem.

  6. Pre-Service Teachers' Free and Structured Mathematical Problem Posing

    ERIC Educational Resources Information Center

    Silber, Steven; Cai, Jinfa

    2017-01-01

    This exploratory study examined how pre-service teachers (PSTs) pose mathematical problems for free and structured mathematical problem-posing conditions. It was hypothesized that PSTs would pose more complex mathematical problems under structured posing conditions, with increasing levels of complexity, than PSTs would pose under free posing…

  7. Investigation of Problem-Solving and Problem-Posing Abilities of Seventh-Grade Students

    ERIC Educational Resources Information Center

    Arikan, Elif Esra; Ünal, Hasan

    2015-01-01

    This study aims to examine the effect of multiple problem-solving skills on the problem-posing abilities of gifted and non-gifted students and to assess whether the possession of such skills can predict giftedness or affect problem-posing abilities. Participants' metaphorical images of problem posing were also explored. Participants were 20 gifted…

  8. Skill Levels of Prospective Physics Teachers on Problem Posing

    ERIC Educational Resources Information Center

    Cildir, Sema; Sezen, Nazan

    2011-01-01

    Problem posing is one of the topics which the educators thoroughly accentuate. Problem posing skill is defined as an introvert activity of a student's learning. In this study, skill levels of prospective physics teachers on problem posing were determined and their views on problem posing were evaluated. To this end, prospective teachers were given…

  9. Artifacts as Sources for Problem-Posing Activities

    ERIC Educational Resources Information Center

    Bonotto, Cinzia

    2013-01-01

    The problem-posing process represents one of the forms of authentic mathematical inquiry which, if suitably implemented in classroom activities, could move well beyond the limitations of word problems, at least as they are typically utilized. The two exploratory studies presented sought to investigate the impact of "problem-posing" activities when…

  10. Embedding Game-Based Problem-Solving Phase into Problem-Posing System for Mathematics Learning

    ERIC Educational Resources Information Center

    Chang, Kuo-En; Wu, Lin-Jung; Weng, Sheng-En; Sung, Yao-Ting

    2012-01-01

    A problem-posing system is developed with four phases including posing problem, planning, solving problem, and looking back, in which the "solving problem" phase is implemented by game-scenarios. The system supports elementary students in the process of problem-posing, allowing them to fully engage in mathematical activities. In total, 92 fifth…

  11. Students’ Mathematical Creative Thinking through Problem Posing Learning

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    Ulfah, U.; Prabawanto, S.; Jupri, A.

    2017-09-01

    The research aims to investigate the differences in enhancement of students’ mathematical creative thinking ability of those who received problem posing approach assisted by manipulative media and students who received problem posing approach without manipulative media. This study was a quasi experimental research with non-equivalent control group design. Population of this research was third-grade students of a primary school in Bandung city in 2016/2017 academic year. Sample of this research was two classes as experiment class and control class. The instrument used is a test of mathematical creative thinking ability. Based on the results of the research, it is known that the enhancement of the students’ mathematical creative thinking ability of those who received problem posing approach with manipulative media aid is higher than the ability of those who received problem posing approach without manipulative media aid. Students who get learning problem posing learning accustomed in arranging mathematical sentence become matter of story so it can facilitate students to comprehend about story

  12. Creativity and Mathematical Problem Posing: An Analysis of High School Students' Mathematical Problem Posing in China and the USA

    ERIC Educational Resources Information Center

    Van Harpen, Xianwei Y.; Sriraman, Bharath

    2013-01-01

    In the literature, problem-posing abilities are reported to be an important aspect/indicator of creativity in mathematics. The importance of problem-posing activities in mathematics is emphasized in educational documents in many countries, including the USA and China. This study was aimed at exploring high school students' creativity in…

  13. The Art of Problem Posing. 3rd Edition

    ERIC Educational Resources Information Center

    Brown, Stephen I.; Walter, Marion I.

    2005-01-01

    The new edition of this classic book describes and provides a myriad of examples of the relationships between problem posing and problem solving, and explores the educational potential of integrating these two activities in classrooms at all levels. "The Art of Problem Posing, Third Edition" encourages readers to shift their thinking…

  14. Some Reflections on Problem Posing: A Conversation with Marion Walter

    ERIC Educational Resources Information Center

    Baxter, Juliet A.

    2005-01-01

    Marion Walter, an internationally acclaimed mathematics educator discusses about problem posing, focusing on both the merits of problem posing and techniques to encourage problem posing. She believes that playful attitude toward problem variables is an essential part of an inquiring mind and the more opportunities that learners have, to change a…

  15. Posing Problems to Understand Children's Learning of Fractions

    ERIC Educational Resources Information Center

    Cheng, Lu Pien

    2013-01-01

    In this study, ways in which problem posing activities aid our understanding of children's learning of addition of unlike fractions and product of proper fractions was examined. In particular, how a simple problem posing activity helps teachers take a second, deeper look at children's understanding of fraction concepts will be discussed. The…

  16. Developing Teachers' Subject Didactic Competence through Problem Posing

    ERIC Educational Resources Information Center

    Ticha, Marie; Hospesova, Alena

    2013-01-01

    Problem posing (not only in lesson planning but also directly in teaching whenever needed) is one of the attributes of a teacher's subject didactic competence. In this paper, problem posing in teacher education is understood as an educational and a diagnostic tool. The results of the study were gained in pre-service primary school teacher…

  17. Characteristics of Problem Posing of Grade 9 Students on Geometric Tasks

    ERIC Educational Resources Information Center

    Chua, Puay Huat; Wong, Khoon Yoong

    2012-01-01

    This is an exploratory study into the individual problem-posing characteristics of 480 Grade 9 Singapore students who were novice problem posers working on two geometric tasks. The students were asked to pose a problem for their friends to solve. Analyses of solvable posed problems were based on the problem type, problem information, solution type…

  18. Problem-Posing Strategies Used by Years 8 and 9 Students

    ERIC Educational Resources Information Center

    Stoyanova, Elena

    2005-01-01

    According to Kilpatrick (1987), in the mathematics classrooms problem posing can be applied as a "goal" or as a means of instruction. Using problem posing as a goal of instruction involves asking students to respond to a range of problem-posing prompts. The main goal of this article is a classification of mathematics questions created by Years 8…

  19. Helping Young Students to Better Pose an Environmental Problem

    ERIC Educational Resources Information Center

    Pruneau, Diane; Freiman, Viktor; Barbier, Pierre-Yves; Langis, Joanne

    2009-01-01

    Grade 3 students were asked to solve a sedimentation problem in a local river. With scientists, students explored many aspects of the problem and proposed solutions. Graphic representation tools were used to help students to better pose the problem. Using questionnaires and interviews, researchers observed students' capacity to pose the problem…

  20. Creativity of Field-dependent and Field-independent Students in Posing Mathematical Problems

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    Azlina, N.; Amin, S. M.; Lukito, A.

    2018-01-01

    This study aims at describing the creativity of elementary school students with different cognitive styles in mathematical problem-posing. The posed problems were assessed based on three components of creativity, namely fluency, flexibility, and novelty. The free-type problem posing was used in this study. This study is a descriptive research with qualitative approach. Data collections were conducted through written task and task-based interviews. The subjects were two elementary students. One of them is Field Dependent (FD) and the other is Field Independent (FI) which were measured by GEFT (Group Embedded Figures Test). Further, the data were analyzed based on creativity components. The results show thatFD student’s posed problems have fulfilled the two components of creativity namely fluency, in which the subject posed at least 3 mathematical problems, and flexibility, in whichthe subject posed problems with at least 3 different categories/ideas. Meanwhile,FI student’s posed problems have fulfilled all three components of creativity, namely fluency, in which thesubject posed at least 3 mathematical problems, flexibility, in which thesubject posed problems with at least 3 different categories/ideas, and novelty, in which the subject posed problems that are purely the result of her own ideas and different from problems they have known.

  1. Pose and Solve Varignon Converse Problems

    ERIC Educational Resources Information Center

    Contreras, José N.

    2014-01-01

    The activity of posing and solving problems can enrich learners' mathematical experiences because it fosters a spirit of inquisitiveness, cultivates their mathematical curiosity, and deepens their views of what it means to do mathematics. To achieve these goals, a mathematical problem needs to be at the appropriate level of difficulty,…

  2. Problem Posing and Solving with Mathematical Modeling

    ERIC Educational Resources Information Center

    English, Lyn D.; Fox, Jillian L.; Watters, James J.

    2005-01-01

    Mathematical modeling is explored as both problem posing and problem solving from two perspectives, that of the child and the teacher. Mathematical modeling provides rich learning experiences for elementary school children and their teachers.

  3. University Students' Problem Posing Abilities and Attitudes towards Mathematics.

    ERIC Educational Resources Information Center

    Grundmeier, Todd A.

    2002-01-01

    Explores the problem posing abilities and attitudes towards mathematics of students in a university pre-calculus class and a university mathematical proof class. Reports a significant difference in numeric posing versus non-numeric posing ability in both classes. (Author/MM)

  4. An Investigation on Chinese Teachers' Realistic Problem Posing and Problem Solving Ability and Beliefs

    ERIC Educational Resources Information Center

    Chen, Limin; Van Dooren, Wim; Chen, Qi; Verschaffel, Lieven

    2011-01-01

    In the present study, which is a part of a research project about realistic word problem solving and problem posing in Chinese elementary schools, a problem solving and a problem posing test were administered to 128 pre-service and in-service elementary school teachers from Tianjin City in China, wherein the teachers were asked to solve 3…

  5. What Makes a Problem Mathematically Interesting? Inviting Prospective Teachers to Pose Better Problems

    ERIC Educational Resources Information Center

    Crespo, Sandra; Sinclair, Nathalie

    2008-01-01

    School students of all ages, including those who subsequently become teachers, have limited experience posing their own mathematical problems. Yet problem posing, both as an act of mathematical inquiry and of mathematics teaching, is part of the mathematics education reform vision that seeks to promote mathematics as an worthy intellectual…

  6. Problem Posing as a Pedagogical Strategy: A Teacher's Perspective

    ERIC Educational Resources Information Center

    Staebler-Wiseman, Heidi A.

    2011-01-01

    Student problem posing has been advocated for mathematics instruction, and it has been suggested that problem posing can be used to develop students' mathematical content knowledge. But, problem posing has rarely been utilized in university-level mathematics courses. The goal of this teacher-as-researcher study was to develop and investigate…

  7. Problem Posing at All Levels in the Calculus Classroom

    ERIC Educational Resources Information Center

    Perrin, John Robert

    2007-01-01

    This article explores the use of problem posing in the calculus classroom using investigative projects. Specially, four examples of student work are examined, each one differing in originality of problem posed. By allowing students to explore actual questions that they have about calculus, coming from their own work or class discussion, or…

  8. The Posing of Arithmetic Problems by Mathematically Talented Students

    ERIC Educational Resources Information Center

    Espinoza González, Johan; Lupiáñez Gómez, José Luis; Segovia Alex, Isidoro

    2016-01-01

    Introduction: This paper analyzes the arithmetic problems posed by a group of mathematically talented students when given two problem-posing tasks, and compares these students' responses to those given by a standard group of public school students to the same tasks. Our analysis focuses on characterizing and identifying the differences between the…

  9. A direct method for nonlinear ill-posed problems

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    Lakhal, A.

    2018-02-01

    We propose a direct method for solving nonlinear ill-posed problems in Banach-spaces. The method is based on a stable inversion formula we explicitly compute by applying techniques for analytic functions. Furthermore, we investigate the convergence and stability of the method and prove that the derived noniterative algorithm is a regularization. The inversion formula provides a systematic sensitivity analysis. The approach is applicable to a wide range of nonlinear ill-posed problems. We test the algorithm on a nonlinear problem of travel-time inversion in seismic tomography. Numerical results illustrate the robustness and efficiency of the algorithm.

  10. Investigation of learning environment for arithmetic word problems by problem posing as sentence integration in Indonesian language

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    Hasanah, N.; Hayashi, Y.; Hirashima, T.

    2017-02-01

    Arithmetic word problems remain one of the most difficult area of teaching mathematics. Learning by problem posing has been suggested as an effective way to improve students’ understanding. However, the practice in usual classroom is difficult due to extra time needed for assessment and giving feedback to students’ posed problems. To address this issue, we have developed a tablet PC software named Monsakun for learning by posing arithmetic word problems based on Triplet Structure Model. It uses the mechanism of sentence-integration, an efficient implementation of problem-posing that enables agent-assessment of posed problems. The learning environment has been used in actual Japanese elementary school classrooms and the effectiveness has been confirmed in previous researches. In this study, ten Indonesian elementary school students living in Japan participated in a learning session of problem posing using Monsakun in Indonesian language. We analyzed their learning activities and show that students were able to interact with the structure of simple word problem using this learning environment. The results of data analysis and questionnaire suggested that the use of Monsakun provides a way of creating an interactive and fun environment for learning by problem posing for Indonesian elementary school students.

  11. Problem Posing with Realistic Mathematics Education Approach in Geometry Learning

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    Mahendra, R.; Slamet, I.; Budiyono

    2017-09-01

    One of the difficulties of students in the learning of geometry is on the subject of plane that requires students to understand the abstract matter. The aim of this research is to determine the effect of Problem Posing learning model with Realistic Mathematics Education Approach in geometry learning. This quasi experimental research was conducted in one of the junior high schools in Karanganyar, Indonesia. The sample was taken using stratified cluster random sampling technique. The results of this research indicate that the model of Problem Posing learning with Realistic Mathematics Education Approach can improve students’ conceptual understanding significantly in geometry learning especially on plane topics. It is because students on the application of Problem Posing with Realistic Mathematics Education Approach are become to be active in constructing their knowledge, proposing, and problem solving in realistic, so it easier for students to understand concepts and solve the problems. Therefore, the model of Problem Posing learning with Realistic Mathematics Education Approach is appropriately applied in mathematics learning especially on geometry material. Furthermore, the impact can improve student achievement.

  12. An Analysis of Secondary and Middle School Teachers' Mathematical Problem Posing

    ERIC Educational Resources Information Center

    Stickles, Paula R.

    2011-01-01

    This study identifies the kinds of problems teachers pose when they are asked to (a) generate problems from given information and (b) create new problems from ones given to them. To investigate teachers' problem posting, preservice and inservice teachers completed background questionnaires and four problem-posing instruments. Based on previous…

  13. Determining the Performances of Pre-Service Primary School Teachers in Problem Posing Situations

    ERIC Educational Resources Information Center

    Kilic, Cigdem

    2013-01-01

    This study examined the problem posing strategies of pre-service primary school teachers in different problem posing situations (PPSs) and analysed the issues they encounter while posing problems. A problem posing task consisting of six PPSs (two free, two structured, and two semi-structured situations) was delivered to 40 participants.…

  14. Opportunities to Pose Problems Using Digital Technology in Problem Solving Environments

    ERIC Educational Resources Information Center

    Aguilar-Magallón, Daniel Aurelio; Fernández, Willliam Enrique Poveda

    2017-01-01

    This article reports and analyzes different types of problems that nine students in a Master's Program in Mathematics Education posed during a course on problem solving. What opportunities (affordances) can a dynamic geometry system (GeoGebra) offer to allow in-service and in-training teachers to formulate and solve problems, and what type of…

  15. Mighty Mathematicians: Using Problem Posing and Problem Solving to Develop Mathematical Power

    ERIC Educational Resources Information Center

    McGatha, Maggie B.; Sheffield, Linda J.

    2006-01-01

    This article describes a year-long professional development institute combined with a summer camp for students. Both were designed to help teachers and students develop their problem-solving and problem-posing abilities.

  16. Developing Pre-Service Teachers Understanding of Fractions through Problem Posing

    ERIC Educational Resources Information Center

    Toluk-Ucar, Zulbiye

    2009-01-01

    This study investigated the effect of problem posing on the pre-service primary teachers' understanding of fraction concepts enrolled in two different versions of a methods course at a university in Turkey. In the experimental version, problem posing was used as a teaching strategy. At the beginning of the study, the pre-service teachers'…

  17. [Problem-posing as a nutritional education strategy with obese teenagers].

    PubMed

    Rodrigues, Erika Marafon; Boog, Maria Cristina Faber

    2006-05-01

    Obesity is a public health issue with relevant social determinants in its etiology and where interventions with teenagers encounter complex biopsychological conditions. This study evaluated intervention in nutritional education through a problem-posing approach with 22 obese teenagers, treated collectively and individually for eight months. Speech acts were collected through the use of word cards, observer recording, and tape-recording. The study adopted a qualitative methodology, and the approach involved content analysis. Problem-posing facilitated changes in eating behavior, triggering reflections on nutritional practices, family circumstances, social stigma, interaction with health professionals, and religion. Teenagers under individual care posed problems more effectively in relation to eating, while those under collective care posed problems in relation to family and psychological issues, with effective qualitative eating changes in both groups. The intervention helped teenagers understand their life history and determinants of eating behaviors, spontaneously implementing eating changes and making them aware of possibilities for maintaining the new practices and autonomously exercising their role as protagonists in their own health care.

  18. Investigating Mathematics Teachers Candidates' Knowledge about Problem Solving Strategies through Problem Posing

    ERIC Educational Resources Information Center

    Ünlü, Melihan

    2017-01-01

    The aim of the study was to determine mathematics teacher candidates' knowledge about problem solving strategies through problem posing. This qualitative research was conducted with 95 mathematics teacher candidates studying at education faculty of a public university during the first term of the 2015-2016 academic year in Turkey. Problem Posing…

  19. Effects of the Problem-Posing Approach on Students' Problem Solving Skills and Metacognitive Awareness in Science Education

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    Akben, Nimet

    2018-05-01

    The interrelationship between mathematics and science education has frequently been emphasized, and common goals and approaches have often been adopted between disciplines. Improving students' problem-solving skills in mathematics and science education has always been given special attention; however, the problem-posing approach which plays a key role in mathematics education has not been commonly utilized in science education. As a result, the purpose of this study was to better determine the effects of the problem-posing approach on students' problem-solving skills and metacognitive awareness in science education. This was a quasi-experimental based study conducted with 61 chemistry and 40 physics students; a problem-solving inventory and a metacognitive awareness inventory were administered to participants both as a pre-test and a post-test. During the 2017-2018 academic year, problem-solving activities based on the problem-posing approach were performed with the participating students during their senior year in various university chemistry and physics departments throughout the Republic of Turkey. The study results suggested that structured, semi-structured, and free problem-posing activities improve students' problem-solving skills and metacognitive awareness. These findings indicated not only the usefulness of integrating problem-posing activities into science education programs but also the need for further research into this question.

  20. Analyzing Pre-Service Primary Teachers' Fraction Knowledge Structures through Problem Posing

    ERIC Educational Resources Information Center

    Kilic, Cigdem

    2015-01-01

    In this study it was aimed to determine pre-service primary teachers' knowledge structures of fraction through problem posing activities. A total of 90 pre-service primary teachers participated in this study. A problem posing test consisting of two questions was used and the participants were asked to generate as many as problems based on the…

  1. Enhancing students’ mathematical problem posing skill through writing in performance tasks strategy

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    Kadir; Adelina, R.; Fatma, M.

    2018-01-01

    Many researchers have studied the Writing in Performance Task (WiPT) strategy in learning, but only a few paid attention on its relation to the problem-posing skill in mathematics. The problem-posing skill in mathematics covers problem reformulation, reconstruction, and imitation. The purpose of the present study was to examine the effect of WiPT strategy on students’ mathematical problem-posing skill. The research was conducted at a Public Junior Secondary School in Tangerang Selatan. It used a quasi-experimental method with randomized control group post-test. The samples were 64 students consists of 32 students of the experiment group and 32 students of the control. A cluster random sampling technique was used for sampling. The research data were obtained by testing. The research shows that the problem-posing skill of students taught by WiPT strategy is higher than students taught by a conventional strategy. The research concludes that the WiPT strategy is more effective in enhancing the students’ mathematical problem-posing skill compared to the conventional strategy.

  2. The Relationship between Students' Problem Posing and Problem Solving Abilities and Beliefs: A Small-Scale Study with Chinese Elementary School Children

    ERIC Educational Resources Information Center

    Limin, Chen; Van Dooren, Wim; Verschaffel, Lieven

    2013-01-01

    The goal of the present study is to investigate the relationship between pupils' problem posing and problem solving abilities, their beliefs about problem posing and problem solving, and their general mathematics abilities, in a Chinese context. Five instruments, i.e., a problem posing test, a problem solving test, a problem posing questionnaire,…

  3. A New Problem-Posing Approach Based on Problem-Solving Strategy: Analyzing Pre-Service Primary School Teachers' Performance

    ERIC Educational Resources Information Center

    Kiliç, Çigdem

    2017-01-01

    This study examined pre-service primary school teachers' performance in posing problems that require knowledge of problem-solving strategies. Quantitative and qualitative methods were combined. The 120 participants were asked to pose a problem that could be solved by using the find-a-pattern a particular problem-solving strategy. After that,…

  4. Critical Inquiry across the Disciplines: Strategies for Student-Generated Problem Posing

    ERIC Educational Resources Information Center

    Nardone, Carroll Ferguson; Lee, Renee Gravois

    2011-01-01

    Problem posing is a higher-order, active-learning task that is important for students to develop. This article describes a series of interdisciplinary learning activities designed to help students strengthen their problem-posing skills, which requires that students become more responsible for their learning and that faculty move to a facilitator…

  5. Teachers Implementing Mathematical Problem Posing in the Classroom: Challenges and Strategies

    ERIC Educational Resources Information Center

    Leung, Shuk-kwan S.

    2013-01-01

    This paper reports a study about how a teacher educator shared knowledge with teachers when they worked together to implement mathematical problem posing (MPP) in the classroom. It includes feasible methods for getting practitioners to use research-based tasks aligned to the curriculum in order to encourage children to pose mathematical problems.…

  6. Development of the Structured Problem Posing Skills and Using Metaphoric Perceptions

    ERIC Educational Resources Information Center

    Arikan, Elif Esra; Unal, Hasan

    2014-01-01

    The purpose of this study was to introduce problem posing activity to third grade students who have never met before. This study was also explored students' metaphorical images on problem posing process. Participants were from Public school in Marmara Region in Turkey. Data was analyzed both qualitatively (content analysis for difficulty and…

  7. An Investigation of Eighth Grade Students' Problem Posing Skills (Turkey Sample)

    ERIC Educational Resources Information Center

    Arikan, Elif Esra; Ünal, Hasan

    2015-01-01

    To pose a problem refers to the creative activity for mathematics education. The purpose of the study was to explore the eighth grade students' problem posing ability. Three learning domains such as requiring four operations, fractions and geometry were chosen for this reason. There were two classes which were coded as class A and class B. Class A…

  8. Unraveling the Mystery of the Origin of Mathematical Problems: Using a Problem-Posing Framework with Prospective Mathematics Teachers

    ERIC Educational Resources Information Center

    Contreras, Jose

    2007-01-01

    In this article, I model how a problem-posing framework can be used to enhance our abilities to systematically generate mathematical problems by modifying the attributes of a given problem. The problem-posing model calls for the application of the following fundamental mathematical processes: proving, reversing, specializing, generalizing, and…

  9. A Problem-Solving Conceptual Framework and Its Implications in Designing Problem-Posing Tasks

    ERIC Educational Resources Information Center

    Singer, Florence Mihaela; Voica, Cristian

    2013-01-01

    The links between the mathematical and cognitive models that interact during problem solving are explored with the purpose of developing a reference framework for designing problem-posing tasks. When the process of solving is a successful one, a solver successively changes his/her cognitive stances related to the problem via transformations that…

  10. Improving attitudes toward mathematics learning with problem posing in class VIII

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    Vionita, Alfha; Purboningsih, Dyah

    2017-08-01

    This research is classroom action research which is collaborated to improve student's behavior toward math and mathematics learning at class VIII by using problem posing approach. The subject of research is all of students grade VIIIA which consist of 32 students. This research has been held on two period, first period is about 3 times meeting, and second period is about 4 times meeting. The instrument of this research is implementation of learning observation's guidance by using problem posing approach. Cycle test has been used to measure cognitive competence, and questionnaire to measure the students' behavior in mathematics learning process. The result of research shows the students' behavior has been improving after using problem posing approach. It is showed by the behavior's criteria of students that has increasing result from the average in first period to high in second period. Furthermore, the percentage of test result is also improve from 68,75% in first period to 78,13% in second period. On the other hand, the implementation of learning observation by using problem posing approach has also improving and it is showed by the average percentage of teacher's achievement in first period is 89,2% and student's achievement 85,8%. These results get increase in second period for both teacher and students' achievement which are 94,4% and 91,11%. As a result, students' behavior toward math learning process in class VIII has been improving by using problem posing approach.

  11. Integrating Worked Examples into Problem Posing in a Web-Based Learning Environment

    ERIC Educational Resources Information Center

    Hsiao, Ju-Yuan; Hung, Chun-Ling; Lan, Yu-Feng; Jeng, Yoau-Chau

    2013-01-01

    Most students always lack of experience and perceive difficult regarding problem posing. The study hypothesized that worked examples may have benefits for supporting students' problem posing activities. A quasi-experiment was conducted in the context of a business mathematics course for examining the effects of integrating worked examples into…

  12. Problem-posing in education: transformation of the practice of the health professional.

    PubMed

    Casagrande, L D; Caron-Ruffino, M; Rodrigues, R A; Vendrúsculo, D M; Takayanagui, A M; Zago, M M; Mendes, M D

    1998-02-01

    This study was developed by a group of professionals from different areas (nurses and educators) concerned with health education. It proposes the use of a problem-posing model for the transformation of professional practice. The concept and functions of the model and their relationships with the educative practice of health professionals are discussed. The model of problem-posing education is presented (compared to traditional, "banking" education), and four innovative experiences of teaching-learning are reported based on this model. These experiences, carried out in areas of environmental and occupational health and patient education have shown the applicability of the problem-posing model to the practice of the health professional, allowing transformation.

  13. Problem-Posing in Education: Transformation of the Practice of the Health Professional.

    ERIC Educational Resources Information Center

    Casagrande, L. D. R.; Caron-Ruffino, M.; Rodrigues, R. A. P.; Vendrusculo, D. M. S.; Takayanagui, A. M. M.; Zago, M. M. F.; Mendes, M. D.

    1998-01-01

    Studied the use of a problem-posing model in health education. The model based on the ideas of Paulo Freire is presented. Four innovative experiences of teaching-learning in environmental and occupational health and patient education are reported. Notes that the problem-posing model has the capability to transform health-education practice.…

  14. Dissecting Success Stories on Mathematical Problem Posing: A Case of the Billiard Task

    ERIC Educational Resources Information Center

    Koichu, Boris; Kontorovich, Igor

    2013-01-01

    "Success stories," i.e., cases in which mathematical problems posed in a controlled setting are perceived by the problem posers or other individuals as interesting, cognitively demanding, or surprising, are essential for understanding the nature of problem posing. This paper analyzes two success stories that occurred with individuals of different…

  15. Process-based Assignment-Setting Change for Support of Overcoming Bottlenecks in Learning by Problem-Posing in Arithmetic Word Problems

    NASA Astrophysics Data System (ADS)

    Supianto, A. A.; Hayashi, Y.; Hirashima, T.

    2017-02-01

    Problem-posing is well known as an effective activity to learn problem-solving methods. Monsakun is an interactive problem-posing learning environment to facilitate arithmetic word problems learning for one operation of addition and subtraction. The characteristic of Monsakun is problem-posing as sentence-integration that lets learners make a problem of three sentences. Monsakun provides learners with five or six sentences including dummies, which are designed through careful considerations by an expert teacher as a meaningful distraction to the learners in order to learn the structure of arithmetic word problems. The results of the practical use of Monsakun in elementary schools show that many learners have difficulties in arranging the proper answer at the high level of assignments. The analysis of the problem-posing process of such learners found that their misconception of arithmetic word problems causes impasses in their thinking and mislead them to use dummies. This study proposes a method of changing assignments as a support for overcoming bottlenecks of thinking. In Monsakun, the bottlenecks are often detected as a frequently repeated use of a specific dummy. If such dummy can be detected, it is the key factor to support learners to overcome their difficulty. This paper discusses how to detect the bottlenecks and to realize such support in learning by problem-posing.

  16. The Effects of Problem Posing on Student Mathematical Learning: A Meta-Analysis

    ERIC Educational Resources Information Center

    Rosli, Roslinda; Capraro, Mary Margaret; Capraro, Robert M.

    2014-01-01

    The purpose of the study was to meta-synthesize research findings on the effectiveness of problem posing and to investigate the factors that might affect the incorporation of problem posing in the teaching and learning of mathematics. The eligibility criteria for inclusion of literature in the meta-analysis was: published between 1989 and 2011,…

  17. Problem-Posing Research in Mathematics Education: Looking Back, Looking Around, and Looking Ahead

    ERIC Educational Resources Information Center

    Silver, Edward A.

    2013-01-01

    In this paper, I comment on the set of papers in this special issue on mathematical problem posing. I offer some observations about the papers in relation to several key issues, and I suggest some productive directions for continued research inquiry on mathematical problem posing.

  18. Meanings Given to Algebraic Symbolism in Problem-Posing

    ERIC Educational Resources Information Center

    Cañadas, María C.; Molina, Marta; del Río, Aurora

    2018-01-01

    Some errors in the learning of algebra suggest that students might have difficulties giving meaning to algebraic symbolism. In this paper, we use problem posing to analyze the students' capacity to assign meaning to algebraic symbolism and the difficulties that students encounter in this process, depending on the characteristics of the algebraic…

  19. Fostering Mathematical Creativity through Problem Posing and Modeling Using Dynamic Geometry: Viviani's Problem in the Classroom

    ERIC Educational Resources Information Center

    Contreras, José N.

    2013-01-01

    This paper discusses a classroom experience in which a group of prospective secondary mathematics teachers were asked to create, cooperatively (in class) and individually, problems related to Viviani's problem using a problem-posing framework. When appropriate, students used Sketchpad to explore the problem to better understand its attributes…

  20. An Analysis of Problem-Posing Tasks in Chinese and US Elementary Mathematics Textbooks

    ERIC Educational Resources Information Center

    Cai, Jinfa; Jiang, Chunlian

    2017-01-01

    This paper reports on 2 studies that examine how mathematical problem posing is integrated in Chinese and US elementary mathematics textbooks. Study 1 involved a historical analysis of the problem-posing (PP) tasks in 3 editions of the most widely used elementary mathematics textbook series published by People's Education Press in China over 3…

  1. The Problems Posed and Models Employed by Primary School Teachers in Subtraction with Fractions

    ERIC Educational Resources Information Center

    Iskenderoglu, Tuba Aydogdu

    2017-01-01

    Students have difficulties in solving problems of fractions in almost all levels, and in problem posing. Problem posing skills influence the process of development of the behaviors observed at the level of comprehension. That is why it is very crucial for teachers to develop activities for student to have conceptual comprehension of fractions and…

  2. Mathematical Creative Process Wallas Model in Students Problem Posing with Lesson Study Approach

    ERIC Educational Resources Information Center

    Nuha, Muhammad 'Azmi; Waluya, S. B.; Junaedi, Iwan

    2018-01-01

    Creative thinking is very important in the modern era so that it should be improved by doing efforts such as making a lesson that train students to pose their own problems. The purposes of this research are (1) to give an initial description of students about mathematical creative thinking level in Problem Posing Model with Lesson Study approach…

  3. Ill Posed Problems: Numerical and Statistical Methods for Mildly, Moderately and Severely Ill Posed Problems with Noisy Data.

    DTIC Science & Technology

    1980-02-01

    to estimate f -..ell, -noderately ,-ell, or- poorly. 1 ’The sansitivity *of a rec-ilarized estimate of f to the noise is made explicit. After giving the...AD-A 7 .SA92 925 WISCONSIN UN! V-MADISON DEFT OF STATISTICS F /S 11,’ 1 ILL POSED PRORLEMS: NUMERICAL ANn STATISTICAL METHODS FOR MILOL-ETC(U FEB 80 a...estimate f given z. We first define the 1 intrinsic rank of the problem where jK(tit) f (t)dt is known exactly. This 0 definition is used to provide insight

  4. Problem Posing Based on Investigation Activities by University Students

    ERIC Educational Resources Information Center

    da Ponte, Joao Pedro; Henriques, Ana

    2013-01-01

    This paper reports a classroom-based study involving investigation activities in a university numerical analysis course. The study aims to analyse students' mathematical processes and to understand how these activities provide opportunities for problem posing. The investigations were intended to stimulate students in asking questions, to trigger…

  5. An Exploratory Framework for Handling the Complexity of Mathematical Problem Posing in Small Groups

    ERIC Educational Resources Information Center

    Kontorovich, Igor; Koichu, Boris; Leikin, Roza; Berman, Avi

    2012-01-01

    The paper introduces an exploratory framework for handling the complexity of students' mathematical problem posing in small groups. The framework integrates four facets known from past research: task organization, students' knowledge base, problem-posing heuristics and schemes, and group dynamics and interactions. In addition, it contains a new…

  6. The Impact of Problem Posing on Elementary Teachers' Beliefs about Mathematics and Mathematics Teaching

    ERIC Educational Resources Information Center

    Barlow, Angela T.; Cates, Janie M.

    2006-01-01

    This study investigated the impact of incorporating problem posing in elementary classrooms on the beliefs held by elementary teachers about mathematics and mathematics teaching. Teachers participated in a year-long staff development project aimed at facilitating the incorporation of problem posing into their classrooms. Beliefs were examined via…

  7. Prospective Middle School Mathematics Teachers' Knowledge of Linear Graphs in Context of Problem-Posing

    ERIC Educational Resources Information Center

    Kar, Tugrul

    2016-01-01

    This study examined prospective middle school mathematics teachers' problem-posing skills by investigating their ability to associate linear graphs with daily life situations. Prospective teachers were given linear graphs and asked to pose problems that could potentially be represented by the graphs. Their answers were analyzed in two stages. In…

  8. A well-posed optimal spectral element approximation for the Stokes problem

    NASA Technical Reports Server (NTRS)

    Maday, Y.; Patera, A. T.; Ronquist, E. M.

    1987-01-01

    A method is proposed for the spectral element simulation of incompressible flow. This method constitutes in a well-posed optimal approximation of the steady Stokes problem with no spurious modes in the pressure. The resulting method is analyzed, and numerical results are presented for a model problem.

  9. Investigating the Impact of Field Trips on Teachers' Mathematical Problem Posing

    ERIC Educational Resources Information Center

    Courtney, Scott A.; Caniglia, Joanne; Singh, Rashmi

    2014-01-01

    This study examines the impact of field trip experiences on teachers' mathematical problem posing. Teachers from a large urban public school system in the Midwest participated in a professional development program that incorporated experiential learning with mathematical problem formulation experiences. During 2 weeks of summer 2011, 68 teachers…

  10. Cultural and Political Vignettes in the English Classroom: Problem-Posing, Problem-Solving, and the Imagination

    ERIC Educational Resources Information Center

    Darvin, Jacqueline

    2009-01-01

    One way to merge imagination with problem-posing and problem-solving in the English classroom is by asking students to respond to "cultural and political vignettes" (CPVs). CPVs are cultural and political situations that are presented to students so that they can practice the creative and essential decision-making skills that they will need to use…

  11. Enhancing Students' Communication Skills through Problem Posing and Presentation

    ERIC Educational Resources Information Center

    Sugito; E. S., Sri Mulyani; Hartono; Supartono

    2017-01-01

    This study was to explore how enhance communication skill through problem posing and presentation method. The subjects of this research were the seven grade students Junior High School, including 20 male and 14 female. This research was conducted in two cycles and each cycle consisted of four steps, they were: planning, action, observation, and…

  12. Control and System Theory, Optimization, Inverse and Ill-Posed Problems

    DTIC Science & Technology

    1988-09-14

    Justlfleatlen Distribut ion/ Availability Codes # AFOSR-87-0350 Avat’ and/or1987-1988 Dist Special *CONTROL AND SYSTEM THEORY , ~ * OPTIMIZATION, * INVERSE...considerable va- riety of research investigations within the grant areas (Control and system theory , Optimization, and Ill-posed problems]. The

  13. Engaging Pre-Service Middle-School Teacher-Education Students in Mathematical Problem Posing: Development of an Active Learning Framework

    ERIC Educational Resources Information Center

    Ellerton, Nerida F.

    2013-01-01

    Although official curriculum documents make cursory mention of the need for problem posing in school mathematics, problem posing rarely becomes part of the implemented or assessed curriculum. This paper provides examples of how problem posing can be made an integral part of mathematics teacher education programs. It is argued that such programs…

  14. An Investigation of Relationships between Students' Mathematical Problem-Posing Abilities and Their Mathematical Content Knowledge

    ERIC Educational Resources Information Center

    Van Harpen, Xianwei Y.; Presmeg, Norma C.

    2013-01-01

    The importance of students' problem-posing abilities in mathematics has been emphasized in the K-12 curricula in the USA and China. There are claims that problem-posing activities are helpful in developing creative approaches to mathematics. At the same time, there are also claims that students' mathematical content knowledge could be highly…

  15. Mathematical Thinking and Creativity through Mathematical Problem Posing and Solving

    ERIC Educational Resources Information Center

    Ayllón, María F.; Gómez, Isabel A.; Ballesta-Claver, Julio

    2016-01-01

    This work shows the relationship between the development of mathematical thinking and creativity with mathematical problem posing and solving. Creativity and mathematics are disciplines that do not usually appear together. Both concepts constitute complex processes sharing elements, such as fluency (number of ideas), flexibility (range of ideas),…

  16. Examining Interactions between Problem Posing and Problem Solving with Prospective Primary Teachers: A Case of Using Fractions

    ERIC Educational Resources Information Center

    Xie, Jinxia; Masingila, Joanna O.

    2017-01-01

    Existing studies have quantitatively evidenced the relatedness between problem posing and problem solving, as well as the magnitude of this relationship. However, the nature and features of this relationship need further qualitative exploration. This paper focuses on exploring the interactions, i.e., mutual effects and supports, between problem…

  17. [Evaluation of Educational Effect of Problem-Posing System in Nursing Processing Study].

    PubMed

    Tsuji, Keiko; Takano, Yasuomi; Yamakawa, Hiroto; Kaneko, Daisuke; Takai, Kiyako; Kodama, Hiromi; Hagiwara, Tomoko; Komatsugawa, Hiroshi

    2015-09-01

    The nursing processing study is generally difficult, because it is important for nursing college students to understand knowledge and utilize it. We have developed an integrated system to understand, utilize, and share knowledge. We added a problem-posing function to this system, and expected that students would deeply understand the nursing processing study through the new system. This system consisted of four steps: create a problem, create an answer input section, create a hint, and verification. Nursing students created problems related to nursing processing by this system. When we gave a lecture on the nursing processing for second year students of A university, we tried to use the creating problem function of this system. We evaluated the effect by the number of problems and the contents of the created problem, that is, whether the contents consisted of a lecture stage or not. We also evaluated the correlation between those and regular examination and report scores. We derived the following: 1. weak correlation between the number of created problems and report score (r=0.27), 2. significant differences between regular examination and report scores of students who created problems corresponding to the learning stage, and those of students who created problems not corresponding to it (P<0.05). From these results, problem-posing is suggested to be effective to fix and utilize knowledge in the lecture of nursing processing theory.

  18. Generalizability Theory Research on Developing a Scoring Rubric to Assess Primary School Students' Problem Posing Skills

    ERIC Educational Resources Information Center

    Cankoy, Osman; Özder, Hasan

    2017-01-01

    The aim of this study is to develop a scoring rubric to assess primary school students' problem posing skills. The rubric including five dimensions namely solvability, reasonability, mathematical structure, context and language was used. The raters scored the students' problem posing skills both with and without the scoring rubric to test the…

  19. Fraction Multiplication and Division Word Problems Posed by Different Years of Pre-Service Elementary Mathematics Teachers

    ERIC Educational Resources Information Center

    Aydogdu Iskenderoglu, Tuba

    2018-01-01

    It is important for pre-service teachers to know the conceptual difficulties they have experienced regarding the concepts of multiplication and division in fractions and problem posing is a way to learn these conceptual difficulties. Problem posing is a synthetic activity that fundamentally has multiple answers. The purpose of this study is to…

  20. A truncated generalized singular value decomposition algorithm for moving force identification with ill-posed problems

    NASA Astrophysics Data System (ADS)

    Chen, Zhen; Chan, Tommy H. T.

    2017-08-01

    This paper proposes a new methodology for moving force identification (MFI) from the responses of bridge deck. Based on the existing time domain method (TDM), the MFI problem eventually becomes solving the linear algebraic equation in the form Ax = b . The vector b is usually contaminated by an unknown error e generating from measurement error, which often called the vector e as ''noise''. With the ill-posed problems that exist in the inverse problem, the identification force would be sensitive to the noise e . The proposed truncated generalized singular value decomposition method (TGSVD) aims at obtaining an acceptable solution and making the noise to be less sensitive to perturbations with the ill-posed problems. The illustrated results show that the TGSVD has many advantages such as higher precision, better adaptability and noise immunity compared with TDM. In addition, choosing a proper regularization matrix L and a truncation parameter k are very useful to improve the identification accuracy and to solve ill-posed problems when it is used to identify the moving force on bridge.

  1. The Analysis of the Problems the Pre-Service Teachers Experience in Posing Problems about Equations

    ERIC Educational Resources Information Center

    Isik, Cemalettin; Kar, Tugrul

    2012-01-01

    The present study aimed to analyse the potential difficulties in the problems posed by pre-service teachers about first degree equations with one unknown and equation pairs with two unknowns. It was carried out with 20 pre-service teachers studying in the Department of Elementary Mathematics Educations at a university in Eastern Turkey. The…

  2. Analysis of Problems Posed by Sixth-Grade Middle School Students for the Addition of Fractions in Terms of Semantic Structures

    ERIC Educational Resources Information Center

    Kar, Tugrul

    2015-01-01

    This study aimed to investigate how the semantic structures of problems posed by sixth-grade middle school students for the addition of fractions affect their problem-posing performance. The students were presented with symbolic operations involving the addition of fractions and asked to pose two different problems related to daily-life situations…

  3. Solving ill-posed control problems by stabilized finite element methods: an alternative to Tikhonov regularization

    NASA Astrophysics Data System (ADS)

    Burman, Erik; Hansbo, Peter; Larson, Mats G.

    2018-03-01

    Tikhonov regularization is one of the most commonly used methods for the regularization of ill-posed problems. In the setting of finite element solutions of elliptic partial differential control problems, Tikhonov regularization amounts to adding suitably weighted least squares terms of the control variable, or derivatives thereof, to the Lagrangian determining the optimality system. In this note we show that the stabilization methods for discretely ill-posed problems developed in the setting of convection-dominated convection-diffusion problems, can be highly suitable for stabilizing optimal control problems, and that Tikhonov regularization will lead to less accurate discrete solutions. We consider some inverse problems for Poisson’s equation as an illustration and derive new error estimates both for the reconstruction of the solution from the measured data and reconstruction of the source term from the measured data. These estimates include both the effect of the discretization error and error in the measurements.

  4. Assessment of a Problem Posing Task in a Jamaican Grade Four Mathematics Classroom

    ERIC Educational Resources Information Center

    Munroe, Kayan Lloyd

    2016-01-01

    This paper analyzes how a teacher of mathematics used problem posing in the assessment of the cognitive development of 26 students at the grade-four level. The students, ages 8 to 10 years, were from a rural elementary school in western Jamaica. Using a picture as a prompt, students were asked to generate three arithmetic problems and to offer…

  5. A problem-posing approach to teaching the topic of radioactivity

    NASA Astrophysics Data System (ADS)

    Klaassen, C. W. J. M.

    1995-12-01

    This thesis highlights a problem-posing approach to science education. By this is meant an approach that explicitly aims at providing students with content-related motives for extending their existing conceptual resources, experiential base and belief system in a certain direction, such that a further development in that direction eventually leads to a proper understanding of science. An elaboration of that approach consists in designing, testing, improving, etc, concrete didactical structures. The eventual aim of the approach is a coherent, and by means of developmental research empirically supported, didactical structure that covers the whole of science education. The thesis also contains a few steps in the direction suggested by this programmatic view. It contains an illustration of the heuristic value of an articulation of a didactical structure in some main substructures, based on the work of van Hiele and ten Voorde. It further contains a discussion of some methodological aspects relating to the design and evaluation of a didactical structure, and of the role that a further developed version of Davidson's theory of interpretation could play in this respect. A detailed didactical structure of the topic of radioactivity is presented, evaluated and, on the basis of the evaluation, judged as `good enough.' Also the role of the teacher in a problem-posing approach is dis-cussed, and in particular the consequences for that role of giving students control over and responsibility for the progress of their learning process with respect to content.

  6. Mathematical Problem Posing as a Measure of Curricular Effect on Students' Learning

    ERIC Educational Resources Information Center

    Cai, Jinfa; Moyer, John C.; Wang, Ning; Hwang, Stephen; Nie, Bikai; Garber, Tammy

    2013-01-01

    In this study, we used problem posing as a measure of the effect of middle-school curriculum on students' learning in high school. Students who had used a standards-based curriculum in middle school performed equally well or better in high school than students who had used more traditional curricula. The findings from this study not only show…

  7. Development of a Mobile Learning System Based on a Collaborative Problem-Posing Strategy

    ERIC Educational Resources Information Center

    Sung, Han-Yu; Hwang, Gwo-Jen; Chang, Ya-Chi

    2016-01-01

    In this study, a problem-posing strategy is proposed for supporting collaborative mobile learning activities. Accordingly, a mobile learning environment has been developed, and an experiment on a local culture course has been conducted to evaluate the effectiveness of the proposed approach. Three classes of an elementary school in southern Taiwan…

  8. Solving ill-posed inverse problems using iterative deep neural networks

    NASA Astrophysics Data System (ADS)

    Adler, Jonas; Öktem, Ozan

    2017-12-01

    We propose a partially learned approach for the solution of ill-posed inverse problems with not necessarily linear forward operators. The method builds on ideas from classical regularisation theory and recent advances in deep learning to perform learning while making use of prior information about the inverse problem encoded in the forward operator, noise model and a regularising functional. The method results in a gradient-like iterative scheme, where the ‘gradient’ component is learned using a convolutional network that includes the gradients of the data discrepancy and regulariser as input in each iteration. We present results of such a partially learned gradient scheme on a non-linear tomographic inversion problem with simulated data from both the Sheep-Logan phantom as well as a head CT. The outcome is compared against filtered backprojection and total variation reconstruction and the proposed method provides a 5.4 dB PSNR improvement over the total variation reconstruction while being significantly faster, giving reconstructions of 512 × 512 pixel images in about 0.4 s using a single graphics processing unit (GPU).

  9. High-School Students' Approaches to Solving Algebra Problems that Are Posed Symbolically: Results from an Interview Study

    ERIC Educational Resources Information Center

    Huntley, Mary Ann; Davis, Jon D.

    2008-01-01

    A cross-curricular structured-probe task-based clinical interview study with 44 pairs of third year high-school mathematics students, most of whom were high achieving, was conducted to investigate their approaches to a variety of algebra problems. This paper presents results from three problems that were posed in symbolic form. Two problems are…

  10. The World in a Tomato: Revisiting the Use of "Codes" in Freire's Problem-Posing Education.

    ERIC Educational Resources Information Center

    Barndt, Deborah

    1998-01-01

    Gives examples of the use of Freire's notion of codes or generative themes in problem-posing literacy education. Describes how these applications expand Freire's conceptions by involving students in code production, including multicultural perspectives, and rethinking codes as representations. (SK)

  11. Solution to the SLAM problem in low dynamic environments using a pose graph and an RGB-D sensor.

    PubMed

    Lee, Donghwa; Myung, Hyun

    2014-07-11

    In this study, we propose a solution to the simultaneous localization and mapping (SLAM) problem in low dynamic environments by using a pose graph and an RGB-D (red-green-blue depth) sensor. The low dynamic environments refer to situations in which the positions of objects change over long intervals. Therefore, in the low dynamic environments, robots have difficulty recognizing the repositioning of objects unlike in highly dynamic environments in which relatively fast-moving objects can be detected using a variety of moving object detection algorithms. The changes in the environments then cause groups of false loop closing when the same moved objects are observed for a while, which means that conventional SLAM algorithms produce incorrect results. To address this problem, we propose a novel SLAM method that handles low dynamic environments. The proposed method uses a pose graph structure and an RGB-D sensor. First, to prune the falsely grouped constraints efficiently, nodes of the graph, that represent robot poses, are grouped according to the grouping rules with noise covariances. Next, false constraints of the pose graph are pruned according to an error metric based on the grouped nodes. The pose graph structure is reoptimized after eliminating the false information, and the corrected localization and mapping results are obtained. The performance of the method was validated in real experiments using a mobile robot system.

  12. An Investigation of Pattern Problems Posed by Middle School Mathematics Preservice Teachers Using Multiple Representation

    ERIC Educational Resources Information Center

    Yilmaz, Yasemin; Durmus, Soner; Yaman, Hakan

    2018-01-01

    This study investigated the pattern problems posed by middle school mathematics preservice teachers using multiple representations to determine both their pattern knowledge levels and their abilities to transfer this knowledge to students. The design of the study is the survey method, one of the quantitative research methods. The study group was…

  13. Ways of Thinking Associated with Mathematics Teachers' Problem Posing in the Context of Division of Fractions

    ERIC Educational Resources Information Center

    Koichu, Boris; Harel, Guershon; Manaster, Alfred

    2013-01-01

    Twenty-four mathematics teachers were asked to think aloud when posing a word problem whose solution could be found by computing 4/5 divided by 2/3. The data consisted of verbal protocols along with the written notes made by the subjects. The qualitative analysis of the data was focused on identifying the structures of the problems produced and…

  14. Problem-Posing as a Didactic Resource in Formal Mathematics Courses to Train Future Secondary School Mathematics Teachers

    ERIC Educational Resources Information Center

    Solórzano, Lorena Salazar

    2015-01-01

    Beginning university training programs must focus on different competencies for mathematics teachers, i.e., not only on solving problems, but also on posing them and analyzing the mathematical activity. This paper reports the results of an exploratory study conducted with future secondary school mathematics teachers on the introduction of…

  15. Human pose tracking from monocular video by traversing an image motion mapped body pose manifold

    NASA Astrophysics Data System (ADS)

    Basu, Saurav; Poulin, Joshua; Acton, Scott T.

    2010-01-01

    Tracking human pose from monocular video sequences is a challenging problem due to the large number of independent parameters affecting image appearance and nonlinear relationships between generating parameters and the resultant images. Unlike the current practice of fitting interpolation functions to point correspondences between underlying pose parameters and image appearance, we exploit the relationship between pose parameters and image motion flow vectors in a physically meaningful way. Change in image appearance due to pose change is realized as navigating a low dimensional submanifold of the infinite dimensional Lie group of diffeomorphisms of the two dimensional sphere S2. For small changes in pose, image motion flow vectors lie on the tangent space of the submanifold. Any observed image motion flow vector field is decomposed into the basis motion vector flow fields on the tangent space and combination weights are used to update corresponding pose changes in the different dimensions of the pose parameter space. Image motion flow vectors are largely invariant to style changes in experiments with synthetic and real data where the subjects exhibit variation in appearance and clothing. The experiments demonstrate the robustness of our method (within +/-4° of ground truth) to style variance.

  16. Problem posing and cultural tailoring: developing an HIV/AIDS health literacy toolkit with the African American community.

    PubMed

    Rikard, R V; Thompson, Maxine S; Head, Rachel; McNeil, Carlotta; White, Caressa

    2012-09-01

    The rate of HIV infection among African Americans is disproportionately higher than for other racial groups in the United States. Previous research suggests that low level of health literacy (HL) is an underlying factor to explain racial disparities in the prevalence and incidence of HIV/AIDS. The present research describes a community and university project to develop a culturally tailored HIV/AIDS HL toolkit in the African American community. Paulo Freire's pedagogical philosophy and problem-posing methodology served as the guiding framework throughout the development process. Developing the HIV/AIDS HL toolkit occurred in a two-stage process. In Stage 1, a nonprofit organization and research team established a collaborative partnership to develop a culturally tailored HIV/AIDS HL toolkit. In Stage 2, African American community members participated in focus groups conducted as Freirian cultural circles to further refine the HIV/AIDS HL toolkit. In both stages, problem posing engaged participants' knowledge, experiences, and concerns to evaluate a working draft toolkit. The discussion and implications highlight how Freire's pedagogical philosophy and methodology enhances the development of culturally tailored health information.

  17. In-the-wild facial expression recognition in extreme poses

    NASA Astrophysics Data System (ADS)

    Yang, Fei; Zhang, Qian; Zheng, Chi; Qiu, Guoping

    2018-04-01

    In the computer research area, facial expression recognition is a hot research problem. Recent years, the research has moved from the lab environment to in-the-wild circumstances. It is challenging, especially under extreme poses. But current expression detection systems are trying to avoid the pose effects and gain the general applicable ability. In this work, we solve the problem in the opposite approach. We consider the head poses and detect the expressions within special head poses. Our work includes two parts: detect the head pose and group it into one pre-defined head pose class; do facial expression recognize within each pose class. Our experiments show that the recognition results with pose class grouping are much better than that of direct recognition without considering poses. We combine the hand-crafted features, SIFT, LBP and geometric feature, with deep learning feature as the representation of the expressions. The handcrafted features are added into the deep learning framework along with the high level deep learning features. As a comparison, we implement SVM and random forest to as the prediction models. To train and test our methodology, we labeled the face dataset with 6 basic expressions.

  18. The nucleolus is well-posed

    NASA Astrophysics Data System (ADS)

    Fragnelli, Vito; Patrone, Fioravante; Torre, Anna

    2006-02-01

    The lexicographic order is not representable by a real-valued function, contrary to many other orders or preorders. So, standard tools and results for well-posed minimum problems cannot be used. We prove that under suitable hypotheses it is however possible to guarantee the well-posedness of a lexicographic minimum over a compact or convex set. This result allows us to prove that some game theoretical solution concepts, based on lexicographic order are well-posed: in particular, this is true for the nucleolus.

  19. Engaging in Problem Posing Activities in a Dynamic Geometry Setting and the Development of Prospective Teachers' Mathematical Knowledge

    ERIC Educational Resources Information Center

    Lavy, Ilana; Shriki, Atara

    2010-01-01

    In the present study we explore changes in perceptions of our class of prospective mathematics teachers (PTs) regarding their mathematical knowledge. The PTs engaged in problem posing activities in geometry, using the "What If Not?" (WIN) strategy, as part of their work on computerized inquiry-based activities. Data received from the PTs'…

  20. Human Pose Estimation from Monocular Images: A Comprehensive Survey

    PubMed Central

    Gong, Wenjuan; Zhang, Xuena; Gonzàlez, Jordi; Sobral, Andrews; Bouwmans, Thierry; Tu, Changhe; Zahzah, El-hadi

    2016-01-01

    Human pose estimation refers to the estimation of the location of body parts and how they are connected in an image. Human pose estimation from monocular images has wide applications (e.g., image indexing). Several surveys on human pose estimation can be found in the literature, but they focus on a certain category; for example, model-based approaches or human motion analysis, etc. As far as we know, an overall review of this problem domain has yet to be provided. Furthermore, recent advancements based on deep learning have brought novel algorithms for this problem. In this paper, a comprehensive survey of human pose estimation from monocular images is carried out including milestone works and recent advancements. Based on one standard pipeline for the solution of computer vision problems, this survey splits the problem into several modules: feature extraction and description, human body models, and modeling methods. Problem modeling methods are approached based on two means of categorization in this survey. One way to categorize includes top-down and bottom-up methods, and another way includes generative and discriminative methods. Considering the fact that one direct application of human pose estimation is to provide initialization for automatic video surveillance, there are additional sections for motion-related methods in all modules: motion features, motion models, and motion-based methods. Finally, the paper also collects 26 publicly available data sets for validation and provides error measurement methods that are frequently used. PMID:27898003

  1. Ill-posed problem and regularization in reconstruction of radiobiological parameters from serial tumor imaging data

    NASA Astrophysics Data System (ADS)

    Chvetsov, Alevei V.; Sandison, George A.; Schwartz, Jeffrey L.; Rengan, Ramesh

    2015-11-01

    The main objective of this article is to improve the stability of reconstruction algorithms for estimation of radiobiological parameters using serial tumor imaging data acquired during radiation therapy. Serial images of tumor response to radiation therapy represent a complex summation of several exponential processes as treatment induced cell inactivation, tumor growth rates, and the rate of cell loss. Accurate assessment of treatment response would require separation of these processes because they define radiobiological determinants of treatment response and, correspondingly, tumor control probability. However, the estimation of radiobiological parameters using imaging data can be considered an inverse ill-posed problem because a sum of several exponentials would produce the Fredholm integral equation of the first kind which is ill posed. Therefore, the stability of reconstruction of radiobiological parameters presents a problem even for the simplest models of tumor response. To study stability of the parameter reconstruction problem, we used a set of serial CT imaging data for head and neck cancer and a simplest case of a two-level cell population model of tumor response. Inverse reconstruction was performed using a simulated annealing algorithm to minimize a least squared objective function. Results show that the reconstructed values of cell surviving fractions and cell doubling time exhibit significant nonphysical fluctuations if no stabilization algorithms are applied. However, after applying a stabilization algorithm based on variational regularization, the reconstruction produces statistical distributions for survival fractions and doubling time that are comparable to published in vitro data. This algorithm is an advance over our previous work where only cell surviving fractions were reconstructed. We conclude that variational regularization allows for an increase in the number of free parameters in our model which enables development of more

  2. The Effect of the Ill-posed Problem on Quantitative Error Assessment in Digital Image Correlation

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

    Lehoucq, R. B.; Reu, P. L.; Turner, D. Z.

    Here, this work explores the effect of the ill-posed problem on uncertainty quantification for motion estimation using digital image correlation (DIC) (Sutton et al. 2009). We develop a correction factor for standard uncertainty estimates based on the cosine of the angle between the true motion and the image gradients, in an integral sense over a subregion of the image. This correction factor accounts for variability in the DIC solution previously unaccounted for when considering only image noise, interpolation bias, contrast, and the software settings such as subset size and spacing.

  3. The Effect of the Ill-posed Problem on Quantitative Error Assessment in Digital Image Correlation

    DOE PAGES

    Lehoucq, R. B.; Reu, P. L.; Turner, D. Z.

    2017-11-27

    Here, this work explores the effect of the ill-posed problem on uncertainty quantification for motion estimation using digital image correlation (DIC) (Sutton et al. 2009). We develop a correction factor for standard uncertainty estimates based on the cosine of the angle between the true motion and the image gradients, in an integral sense over a subregion of the image. This correction factor accounts for variability in the DIC solution previously unaccounted for when considering only image noise, interpolation bias, contrast, and the software settings such as subset size and spacing.

  4. A Problem Posing-Based Practicing Strategy for Facilitating Students' Computer Programming Skills in the Team-Based Learning Mode

    ERIC Educational Resources Information Center

    Wang, Xiao-Ming; Hwang, Gwo-Jen

    2017-01-01

    Computer programming is a subject that requires problem-solving strategies and involves a great number of programming logic activities which pose challenges for learners. Therefore, providing learning support and guidance is important. Collaborative learning is widely believed to be an effective teaching approach; it can enhance learners' social…

  5. Well-posed and stable transmission problems

    NASA Astrophysics Data System (ADS)

    Nordström, Jan; Linders, Viktor

    2018-07-01

    We introduce the notion of a transmission problem to describe a general class of problems where different dynamics are coupled in time. Well-posedness and stability are analysed for continuous and discrete problems using both strong and weak formulations, and a general transmission condition is obtained. The theory is applied to the coupling of fluid-acoustic models, multi-grid implementations, adaptive mesh refinements, multi-block formulations and numerical filtering.

  6. [A problem-posing educational methodology for the prevention of HIV / AIDS].

    PubMed

    Magana, J R; Ferreira-pinto, J B; Blair, M; Mata A

    1992-01-01

    The problem-posing methodology of Brazilian educator Paulo Freire, using the reading circle approach previously deployed in successful literacy campaigns in developing countries, is introduced for application in AIDS information programs. The basis of this educational process is the dialogue where those to be educated resolve their problems by evaluating information critically, capturing concepts by codification and decodification, and transmitting information by creating relevant educational materials. Health circles are organized with women as educators to impart knowledge about AIDS and HIV: definitions, epidemiological components (sex, age, and risk behavior), means of transmission, stages of the progression of AIDS, prevention of HIV infection, and tests for detecting HIV antibodies. The dialogue explores knowledge and feelings about AIDS and how it affects life in the community reveals personal experiences and accounts of knowing someone who was HIV-positive, and develops action plans to minimize AIDS cases in the community. The Latin population of California, mainly of Mexican origin, with low levels of education, income, and acculturation and a high incidence of AIDS, is an appropriate target of such intervention. In 1980, there were 12.3 million people of Hispanic origin in the US. In August 1990, there were 143,280 persons diagnoses with AIDS according to the Centers for Disease Control. 78,878 of these (55%) were Anglos, and 21,752 (15%) were Hispanics. Among the Anglos, the incidence was 300/million inhabitants, while among Hispanics, it was 1059/million, a 3-field higher rate.

  7. Pose-Invariant Face Recognition via RGB-D Images.

    PubMed

    Sang, Gaoli; Li, Jing; Zhao, Qijun

    2016-01-01

    Three-dimensional (3D) face models can intrinsically handle large pose face recognition problem. In this paper, we propose a novel pose-invariant face recognition method via RGB-D images. By employing depth, our method is able to handle self-occlusion and deformation, both of which are challenging problems in two-dimensional (2D) face recognition. Texture images in the gallery can be rendered to the same view as the probe via depth. Meanwhile, depth is also used for similarity measure via frontalization and symmetric filling. Finally, both texture and depth contribute to the final identity estimation. Experiments on Bosphorus, CurtinFaces, Eurecom, and Kiwi databases demonstrate that the additional depth information has improved the performance of face recognition with large pose variations and under even more challenging conditions.

  8. Face pose tracking using the four-point algorithm

    NASA Astrophysics Data System (ADS)

    Fung, Ho Yin; Wong, Kin Hong; Yu, Ying Kin; Tsui, Kwan Pang; Kam, Ho Chuen

    2017-06-01

    In this paper, we have developed an algorithm to track the pose of a human face robustly and efficiently. Face pose estimation is very useful in many applications such as building virtual reality systems and creating an alternative input method for the disabled. Firstly, we have modified a face detection toolbox called DLib for the detection of a face in front of a camera. The detected face features are passed to a pose estimation method, known as the four-point algorithm, for pose computation. The theory applied and the technical problems encountered during system development are discussed in the paper. It is demonstrated that the system is able to track the pose of a face in real time using a consumer grade laptop computer.

  9. Modified truncated randomized singular value decomposition (MTRSVD) algorithms for large scale discrete ill-posed problems with general-form regularization

    NASA Astrophysics Data System (ADS)

    Jia, Zhongxiao; Yang, Yanfei

    2018-05-01

    In this paper, we propose new randomization based algorithms for large scale linear discrete ill-posed problems with general-form regularization: subject to , where L is a regularization matrix. Our algorithms are inspired by the modified truncated singular value decomposition (MTSVD) method, which suits only for small to medium scale problems, and randomized SVD (RSVD) algorithms that generate good low rank approximations to A. We use rank-k truncated randomized SVD (TRSVD) approximations to A by truncating the rank- RSVD approximations to A, where q is an oversampling parameter. The resulting algorithms are called modified TRSVD (MTRSVD) methods. At every step, we use the LSQR algorithm to solve the resulting inner least squares problem, which is proved to become better conditioned as k increases so that LSQR converges faster. We present sharp bounds for the approximation accuracy of the RSVDs and TRSVDs for severely, moderately and mildly ill-posed problems, and substantially improve a known basic bound for TRSVD approximations. We prove how to choose the stopping tolerance for LSQR in order to guarantee that the computed and exact best regularized solutions have the same accuracy. Numerical experiments illustrate that the best regularized solutions by MTRSVD are as accurate as the ones by the truncated generalized singular value decomposition (TGSVD) algorithm, and at least as accurate as those by some existing truncated randomized generalized singular value decomposition (TRGSVD) algorithms. This work was supported in part by the National Science Foundation of China (Nos. 11771249 and 11371219).

  10. Incorporating structure from motion uncertainty into image-based pose estimation

    NASA Astrophysics Data System (ADS)

    Ludington, Ben T.; Brown, Andrew P.; Sheffler, Michael J.; Taylor, Clark N.; Berardi, Stephen

    2015-05-01

    A method for generating and utilizing structure from motion (SfM) uncertainty estimates within image-based pose estimation is presented. The method is applied to a class of problems in which SfM algorithms are utilized to form a geo-registered reference model of a particular ground area using imagery gathered during flight by a small unmanned aircraft. The model is then used to form camera pose estimates in near real-time from imagery gathered later. The resulting pose estimates can be utilized by any of the other onboard systems (e.g. as a replacement for GPS data) or downstream exploitation systems, e.g., image-based object trackers. However, many of the consumers of pose estimates require an assessment of the pose accuracy. The method for generating the accuracy assessment is presented. First, the uncertainty in the reference model is estimated. Bundle Adjustment (BA) is utilized for model generation. While the high-level approach for generating a covariance matrix of the BA parameters is straightforward, typical computing hardware is not able to support the required operations due to the scale of the optimization problem within BA. Therefore, a series of sparse matrix operations is utilized to form an exact covariance matrix for only the parameters that are needed at a particular moment. Once the uncertainty in the model has been determined, it is used to augment Perspective-n-Point pose estimation algorithms to improve the pose accuracy and to estimate the resulting pose uncertainty. The implementation of the described method is presented along with results including results gathered from flight test data.

  11. Robust head pose estimation via supervised manifold learning.

    PubMed

    Wang, Chao; Song, Xubo

    2014-05-01

    Head poses can be automatically estimated using manifold learning algorithms, with the assumption that with the pose being the only variable, the face images should lie in a smooth and low-dimensional manifold. However, this estimation approach is challenging due to other appearance variations related to identity, head location in image, background clutter, facial expression, and illumination. To address the problem, we propose to incorporate supervised information (pose angles of training samples) into the process of manifold learning. The process has three stages: neighborhood construction, graph weight computation and projection learning. For the first two stages, we redefine inter-point distance for neighborhood construction as well as graph weight by constraining them with the pose angle information. For Stage 3, we present a supervised neighborhood-based linear feature transformation algorithm to keep the data points with similar pose angles close together but the data points with dissimilar pose angles far apart. The experimental results show that our method has higher estimation accuracy than the other state-of-art algorithms and is robust to identity and illumination variations. Copyright © 2014 Elsevier Ltd. All rights reserved.

  12. Neuromorphic Event-Based 3D Pose Estimation

    PubMed Central

    Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B.

    2016-01-01

    Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30–60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion. PMID:26834547

  13. Pose estimation of industrial objects towards robot operation

    NASA Astrophysics Data System (ADS)

    Niu, Jie; Zhou, Fuqiang; Tan, Haishu; Cao, Yu

    2017-10-01

    With the advantages of wide range, non-contact and high flexibility, the visual estimation technology of target pose has been widely applied in modern industry, robot guidance and other engineering practices. However, due to the influence of complicated industrial environment, outside interference factors, lack of object characteristics, restrictions of camera and other limitations, the visual estimation technology of target pose is still faced with many challenges. Focusing on the above problems, a pose estimation method of the industrial objects is developed based on 3D models of targets. By matching the extracted shape characteristics of objects with the priori 3D model database of targets, the method realizes the recognition of target. Thus a pose estimation of objects can be determined based on the monocular vision measuring model. The experimental results show that this method can be implemented to estimate the position of rigid objects based on poor images information, and provides guiding basis for the operation of the industrial robot.

  14. Sparse deconvolution for the large-scale ill-posed inverse problem of impact force reconstruction

    NASA Astrophysics Data System (ADS)

    Qiao, Baijie; Zhang, Xingwu; Gao, Jiawei; Liu, Ruonan; Chen, Xuefeng

    2017-01-01

    Most previous regularization methods for solving the inverse problem of force reconstruction are to minimize the l2-norm of the desired force. However, these traditional regularization methods such as Tikhonov regularization and truncated singular value decomposition, commonly fail to solve the large-scale ill-posed inverse problem in moderate computational cost. In this paper, taking into account the sparse characteristic of impact force, the idea of sparse deconvolution is first introduced to the field of impact force reconstruction and a general sparse deconvolution model of impact force is constructed. Second, a novel impact force reconstruction method based on the primal-dual interior point method (PDIPM) is proposed to solve such a large-scale sparse deconvolution model, where minimizing the l2-norm is replaced by minimizing the l1-norm. Meanwhile, the preconditioned conjugate gradient algorithm is used to compute the search direction of PDIPM with high computational efficiency. Finally, two experiments including the small-scale or medium-scale single impact force reconstruction and the relatively large-scale consecutive impact force reconstruction are conducted on a composite wind turbine blade and a shell structure to illustrate the advantage of PDIPM. Compared with Tikhonov regularization, PDIPM is more efficient, accurate and robust whether in the single impact force reconstruction or in the consecutive impact force reconstruction.

  15. Inverse statistical estimation via order statistics: a resolution of the ill-posed inverse problem of PERT scheduling

    NASA Astrophysics Data System (ADS)

    Pickard, William F.

    2004-10-01

    The classical PERT inverse statistics problem requires estimation of the mean, \\skew1\\bar{m} , and standard deviation, s, of a unimodal distribution given estimates of its mode, m, and of the smallest, a, and largest, b, values likely to be encountered. After placing the problem in historical perspective and showing that it is ill-posed because it is underdetermined, this paper offers an approach to resolve the ill-posedness: (a) by interpreting a and b modes of order statistic distributions; (b) by requiring also an estimate of the number of samples, N, considered in estimating the set {m, a, b}; and (c) by maximizing a suitable likelihood, having made the traditional assumption that the underlying distribution is beta. Exact formulae relating the four parameters of the beta distribution to {m, a, b, N} and the assumed likelihood function are then used to compute the four underlying parameters of the beta distribution; and from them, \\skew1\\bar{m} and s are computed using exact formulae.

  16. Pose-free structure from motion using depth from motion constraints.

    PubMed

    Zhang, Ji; Boutin, Mireille; Aliaga, Daniel G

    2011-10-01

    Structure from motion (SFM) is the problem of recovering the geometry of a scene from a stream of images taken from unknown viewpoints. One popular approach to estimate the geometry of a scene is to track scene features on several images and reconstruct their position in 3-D. During this process, the unknown camera pose must also be recovered. Unfortunately, recovering the pose can be an ill-conditioned problem which, in turn, can make the SFM problem difficult to solve accurately. We propose an alternative formulation of the SFM problem with fixed internal camera parameters known a priori. In this formulation, obtained by algebraic variable elimination, the external camera pose parameters do not appear. As a result, the problem is better conditioned in addition to involving much fewer variables. Variable elimination is done in three steps. First, we take the standard SFM equations in projective coordinates and eliminate the camera orientations from the equations. We then further eliminate the camera center positions. Finally, we also eliminate all 3-D point positions coordinates, except for their depths with respect to the camera center, thus obtaining a set of simple polynomial equations of degree two and three. We show that, when there are merely a few points and pictures, these "depth-only equations" can be solved in a global fashion using homotopy methods. We also show that, in general, these same equations can be used to formulate a pose-free cost function to refine SFM solutions in a way that is more accurate than by minimizing the total reprojection error, as done when using the bundle adjustment method. The generalization of our approach to the case of varying internal camera parameters is briefly discussed. © 2011 IEEE

  17. Determination of the Geometric Form of a Plane of a Tectonic Gap as the Inverse III-posed Problem of Mathematical Physics

    NASA Astrophysics Data System (ADS)

    Sirota, Dmitry; Ivanov, Vadim

    2017-11-01

    Any mining operations influence stability of natural and technogenic massifs are the reason of emergence of the sources of differences of mechanical tension. These sources generate a quasistationary electric field with a Newtonian potential. The paper reviews the method of determining the shape and size of a flat source field with this kind of potential. This common problem meets in many fields of mining: geological exploration mineral resources, ore deposits, control of mining by underground method, determining coal self-heating source, localization of the rock crack's sources and other applied problems of practical physics. This problems are ill-posed and inverse and solved by converting to Fredholm-Uryson integral equation of the first kind. This equation will be solved by A.N. Tikhonov regularization method.

  18. The Effect of Problem Posing Oriented Analyses-II Course on the Attitudes toward Mathematics and Mathematics Self-Efficacy of Elementary Prospective Mathematics Teachers

    ERIC Educational Resources Information Center

    Akay, Hayri; Boz, Nihat

    2010-01-01

    Research on mathematics teaching and learning has recently focused on affective variables, which were found to play an essential role that influences behaviour and learning. Despite its importance, problem posing has not yet received the attention it warrants from the mathematics education community. Perceived self-efficacy beliefs have been found…

  19. Fast human pose estimation using 3D Zernike descriptors

    NASA Astrophysics Data System (ADS)

    Berjón, Daniel; Morán, Francisco

    2012-03-01

    Markerless video-based human pose estimation algorithms face a high-dimensional problem that is frequently broken down into several lower-dimensional ones by estimating the pose of each limb separately. However, in order to do so they need to reliably locate the torso, for which they typically rely on time coherence and tracking algorithms. Their losing track usually results in catastrophic failure of the process, requiring human intervention and thus precluding their usage in real-time applications. We propose a very fast rough pose estimation scheme based on global shape descriptors built on 3D Zernike moments. Using an articulated model that we configure in many poses, a large database of descriptor/pose pairs can be computed off-line. Thus, the only steps that must be done on-line are the extraction of the descriptors for each input volume and a search against the database to get the most likely poses. While the result of such process is not a fine pose estimation, it can be useful to help more sophisticated algorithms to regain track or make more educated guesses when creating new particles in particle-filter-based tracking schemes. We have achieved a performance of about ten fps on a single computer using a database of about one million entries.

  20. Image-based aircraft pose estimation: a comparison of simulations and real-world data

    NASA Astrophysics Data System (ADS)

    Breuers, Marcel G. J.; de Reus, Nico

    2001-10-01

    The problem of estimating aircraft pose information from mono-ocular image data is considered using a Fourier descriptor based algorithm. The dependence of pose estimation accuracy on image resolution and aspect angle is investigated through simulations using sets of synthetic aircraft images. Further evaluation shows that god pose estimation accuracy can be obtained in real world image sequences.

  1. Pose estimation for augmented reality applications using genetic algorithm.

    PubMed

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

    2005-12-01

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

  2. Viewpoint Invariant Gesture Recognition and 3D Hand Pose Estimation Using RGB-D

    ERIC Educational Resources Information Center

    Doliotis, Paul

    2013-01-01

    The broad application domain of the work presented in this thesis is pattern classification with a focus on gesture recognition and 3D hand pose estimation. One of the main contributions of the proposed thesis is a novel method for 3D hand pose estimation using RGB-D. Hand pose estimation is formulated as a database retrieval problem. The proposed…

  3. Subject-specific and pose-oriented facial features for face recognition across poses.

    PubMed

    Lee, Ping-Han; Hsu, Gee-Sern; Wang, Yun-Wen; Hung, Yi-Ping

    2012-10-01

    Most face recognition scenarios assume that frontal faces or mug shots are available for enrollment to the database, faces of other poses are collected in the probe set. Given a face from the probe set, one needs to determine whether a match in the database exists. This is under the assumption that in forensic applications, most suspects have their mug shots available in the database, and face recognition aims at recognizing the suspects when their faces of various poses are captured by a surveillance camera. This paper considers a different scenario: given a face with multiple poses available, which may or may not include a mug shot, develop a method to recognize the face with poses different from those captured. That is, given two disjoint sets of poses of a face, one for enrollment and the other for recognition, this paper reports a method best for handling such cases. The proposed method includes feature extraction and classification. For feature extraction, we first cluster the poses of each subject's face in the enrollment set into a few pose classes and then decompose the appearance of the face in each pose class using Embedded Hidden Markov Model, which allows us to define a set of subject-specific and pose-priented (SSPO) facial components for each subject. For classification, an Adaboost weighting scheme is used to fuse the component classifiers with SSPO component features. The proposed method is proven to outperform other approaches, including a component-based classifier with local facial features cropped manually, in an extensive performance evaluation study.

  4. Multi-object segmentation using coupled nonparametric shape and relative pose priors

    NASA Astrophysics Data System (ADS)

    Uzunbas, Mustafa Gökhan; Soldea, Octavian; Çetin, Müjdat; Ünal, Gözde; Erçil, Aytül; Unay, Devrim; Ekin, Ahmet; Firat, Zeynep

    2009-02-01

    We present a new method for multi-object segmentation in a maximum a posteriori estimation framework. Our method is motivated by the observation that neighboring or coupling objects in images generate configurations and co-dependencies which could potentially aid in segmentation if properly exploited. Our approach employs coupled shape and inter-shape pose priors that are computed using training images in a nonparametric multi-variate kernel density estimation framework. The coupled shape prior is obtained by estimating the joint shape distribution of multiple objects and the inter-shape pose priors are modeled via standard moments. Based on such statistical models, we formulate an optimization problem for segmentation, which we solve by an algorithm based on active contours. Our technique provides significant improvements in the segmentation of weakly contrasted objects in a number of applications. In particular for medical image analysis, we use our method to extract brain Basal Ganglia structures, which are members of a complex multi-object system posing a challenging segmentation problem. We also apply our technique to the problem of handwritten character segmentation. Finally, we use our method to segment cars in urban scenes.

  5. Comprendre l'influence des facteurs contextuels sur la participation communautaire à la santé : une étude de cas dans le district sanitaire de Tenkodogo, au Burkina Faso.

    PubMed

    Sombié, Issa; Ilboudo, David O S; Soubeiga, André Kamba; Samuelsen, Helle

    2017-09-01

    Le Burkina Faso met en œuvre depuis plusieurs années la stratégie de la participation communautaire. Des comités de gestion (CoGes) ont été mis en place dans les centres de santé de la première ligne et doivent participer aux prises de décisions. L'objectif principal de cette stratégie est de favoriser l'utilisation des services de santé et une adhésion massive des communautés aux activités de promotion de la santé. Seulement, on constate que les résultats escomptés par les autorités sanitaires tardent à se réaliser. Le présent article convoque les facteurs liés au contexte socioculturel du district sanitaire, pour analyser le phénomène de la participation communautaire. L'étude s'est déroulée dans le district sanitaire de Tenkodogo, situé dans la région administrative du Centre-est, à environ 190 km de la capitale. Cette étude exclusivement qualitative, a utilisé deux méthodes de collecte : les entretiens individuels et les focus groups. Les participants à l'étude sont les chefs de ménage ( n = 48), les membres des CoGes ( n = 10), les agents de santé ( n = 8) et les agents de santé communautaire ( n = 24). La méthode de l'analyse de contenu a été utilisée pour l'analyse des données. Les résultats de l'étude montrent que plusieurs facteurs socioculturels influencent la dynamique de la participation communautaire dans le district. Ce sont les conditions économiques, la perception négative des services de santé, les inégalités sociales de sexe et d'âge, le faible ancrage social des organisations communautaires, les rivalités inter-villages et les conflits coutumiers. L'étude relève également que les communautés ne perçoivent pas leur implication dans le processus décisionnel des services de santé comme une priorité. Leurs principales attentes s'orientent vers la disponibilité de soins de qualité et à coût réduit.

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

    PubMed Central

    Liu, Lujiang; Zhao, Gaopeng; Bo, Yuming

    2016-01-01

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

  7. Multi-Task Convolutional Neural Network for Pose-Invariant Face Recognition

    NASA Astrophysics Data System (ADS)

    Yin, Xi; Liu, Xiaoming

    2018-02-01

    This paper explores multi-task learning (MTL) for face recognition. We answer the questions of how and why MTL can improve the face recognition performance. First, we propose a multi-task Convolutional Neural Network (CNN) for face recognition where identity classification is the main task and pose, illumination, and expression estimations are the side tasks. Second, we develop a dynamic-weighting scheme to automatically assign the loss weight to each side task, which is a crucial problem in MTL. Third, we propose a pose-directed multi-task CNN by grouping different poses to learn pose-specific identity features, simultaneously across all poses. Last but not least, we propose an energy-based weight analysis method to explore how CNN-based MTL works. We observe that the side tasks serve as regularizations to disentangle the variations from the learnt identity features. Extensive experiments on the entire Multi-PIE dataset demonstrate the effectiveness of the proposed approach. To the best of our knowledge, this is the first work using all data in Multi-PIE for face recognition. Our approach is also applicable to in-the-wild datasets for pose-invariant face recognition and achieves comparable or better performance than state of the art on LFW, CFP, and IJB-A datasets.

  8. Singular value decomposition: a diagnostic tool for ill-posed inverse problems in optical computed tomography

    NASA Astrophysics Data System (ADS)

    Lanen, Theo A.; Watt, David W.

    1995-10-01

    Singular value decomposition has served as a diagnostic tool in optical computed tomography by using its capability to provide insight into the condition of ill-posed inverse problems. Various tomographic geometries are compared to one another through the singular value spectrum of their weight matrices. The number of significant singular values in the singular value spectrum of a weight matrix is a quantitative measure of the condition of the system of linear equations defined by a tomographic geometery. The analysis involves variation of the following five parameters, characterizing a tomographic geometry: 1) the spatial resolution of the reconstruction domain, 2) the number of views, 3) the number of projection rays per view, 4) the total observation angle spanned by the views, and 5) the selected basis function. Five local basis functions are considered: the square pulse, the triangle, the cubic B-spline, the Hanning window, and the Gaussian distribution. Also items like the presence of noise in the views, the coding accuracy of the weight matrix, as well as the accuracy of the accuracy of the singular value decomposition procedure itself are assessed.

  9. Sparse Feature Extraction for Pose-Tolerant Face Recognition.

    PubMed

    Abiantun, Ramzi; Prabhu, Utsav; Savvides, Marios

    2014-10-01

    Automatic face recognition performance has been steadily improving over years of research, however it remains significantly affected by a number of factors such as illumination, pose, expression, resolution and other factors that can impact matching scores. The focus of this paper is the pose problem which remains largely overlooked in most real-world applications. Specifically, we focus on one-to-one matching scenarios where a query face image of a random pose is matched against a set of gallery images. We propose a method that relies on two fundamental components: (a) A 3D modeling step to geometrically correct the viewpoint of the face. For this purpose, we extend a recent technique for efficient synthesis of 3D face models called 3D Generic Elastic Model. (b) A sparse feature extraction step using subspace modeling and ℓ1-minimization to induce pose-tolerance in coefficient space. This in return enables the synthesis of an equivalent frontal-looking face, which can be used towards recognition. We show significant performance improvements in verification rates compared to commercial matchers, and also demonstrate the resilience of the proposed method with respect to degrading input quality. We find that the proposed technique is able to match non-frontal images to other non-frontal images of varying angles.

  10. Retrieval of LAI and leaf chlorophyll content from remote sensing data by agronomy mechanism knowledge to solve the ill-posed inverse problem

    NASA Astrophysics Data System (ADS)

    Li, Zhenhai; Nie, Chenwei; Yang, Guijun; Xu, Xingang; Jin, Xiuliang; Gu, Xiaohe

    2014-10-01

    Leaf area index (LAI) and LCC, as the two most important crop growth variables, are major considerations in management decisions, agricultural planning and policy making. Estimation of canopy biophysical variables from remote sensing data was investigated using a radiative transfer model. However, the ill-posed problem is unavoidable for the unique solution of the inverse problem and the uncertainty of measurements and model assumptions. This study focused on the use of agronomy mechanism knowledge to restrict and remove the ill-posed inversion results. For this purpose, the inversion results obtained using the PROSAIL model alone (NAMK) and linked with agronomic mechanism knowledge (AMK) were compared. The results showed that AMK did not significantly improve the accuracy of LAI inversion. LAI was estimated with high accuracy, and there was no significant improvement after considering AMK. The validation results of the determination coefficient (R2) and the corresponding root mean square error (RMSE) between measured LAI and estimated LAI were 0.635 and 1.022 for NAMK, and 0.637 and 0.999 for AMK, respectively. LCC estimation was significantly improved with agronomy mechanism knowledge; the R2 and RMSE values were 0.377 and 14.495 μg cm-2 for NAMK, and 0.503 and 10.661 μg cm-2 for AMK, respectively. Results of the comparison demonstrated the need for agronomy mechanism knowledge in radiative transfer model inversion.

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

    PubMed

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

    2017-10-22

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

  12. Maximal likelihood correspondence estimation for face recognition across pose.

    PubMed

    Li, Shaoxin; Liu, Xin; Chai, Xiujuan; Zhang, Haihong; Lao, Shihong; Shan, Shiguang

    2014-10-01

    Due to the misalignment of image features, the performance of many conventional face recognition methods degrades considerably in across pose scenario. To address this problem, many image matching-based methods are proposed to estimate semantic correspondence between faces in different poses. In this paper, we aim to solve two critical problems in previous image matching-based correspondence learning methods: 1) fail to fully exploit face specific structure information in correspondence estimation and 2) fail to learn personalized correspondence for each probe image. To this end, we first build a model, termed as morphable displacement field (MDF), to encode face specific structure information of semantic correspondence from a set of real samples of correspondences calculated from 3D face models. Then, we propose a maximal likelihood correspondence estimation (MLCE) method to learn personalized correspondence based on maximal likelihood frontal face assumption. After obtaining the semantic correspondence encoded in the learned displacement, we can synthesize virtual frontal images of the profile faces for subsequent recognition. Using linear discriminant analysis method with pixel-intensity features, state-of-the-art performance is achieved on three multipose benchmarks, i.e., CMU-PIE, FERET, and MultiPIE databases. Owe to the rational MDF regularization and the usage of novel maximal likelihood objective, the proposed MLCE method can reliably learn correspondence between faces in different poses even in complex wild environment, i.e., labeled face in the wild database.

  13. Posing Einstein's Question: Questioning Einstein's Pose.

    ERIC Educational Resources Information Center

    Topper, David; Vincent, Dwight E.

    2000-01-01

    Discusses the events surrounding a famous picture of Albert Einstein in which he poses near a blackboard containing a tensor form of his 10 field equations for pure gravity with a question mark after it. Speculates as to the content of Einstein's lecture and the questions he might have had about the equation. (Contains over 30 references.) (WRM)

  14. When a Problem Is More than a Teacher's Question

    ERIC Educational Resources Information Center

    Olson, Jo Clay; Knott, Libby

    2013-01-01

    Not only are the problems teachers pose throughout their teaching of great importance but also the ways in which they use those problems make this a critical component of teaching. A problem-posing episode includes the problem setup, the statement of the problem, and the follow-up questions. Analysis of problem-posing episodes of precalculus…

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

    PubMed Central

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

    2017-01-01

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

  16. Quelques problemes poses a la grammaire casuelle (Some Problems Regarding Case Grammar)

    ERIC Educational Resources Information Center

    Fillmore, Charles J.

    1975-01-01

    Discusses problems related to case grammar theory, including: the organizations of a case grammar; determination of semantic roles; definition and hierarchy of cases; cause-effect relations; and formalization and notation. (Text is in French.) (AM)

  17. Adaptive relative pose control of spacecraft with model couplings and uncertainties

    NASA Astrophysics Data System (ADS)

    Sun, Liang; Zheng, Zewei

    2018-02-01

    The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.

  18. A Bayesian Framework for Human Body Pose Tracking from Depth Image Sequences

    PubMed Central

    Zhu, Youding; Fujimura, Kikuo

    2010-01-01

    This paper addresses the problem of accurate and robust tracking of 3D human body pose from depth image sequences. Recovering the large number of degrees of freedom in human body movements from a depth image sequence is challenging due to the need to resolve the depth ambiguity caused by self-occlusions and the difficulty to recover from tracking failure. Human body poses could be estimated through model fitting using dense correspondences between depth data and an articulated human model (local optimization method). Although it usually achieves a high accuracy due to dense correspondences, it may fail to recover from tracking failure. Alternately, human pose may be reconstructed by detecting and tracking human body anatomical landmarks (key-points) based on low-level depth image analysis. While this method (key-point based method) is robust and recovers from tracking failure, its pose estimation accuracy depends solely on image-based localization accuracy of key-points. To address these limitations, we present a flexible Bayesian framework for integrating pose estimation results obtained by methods based on key-points and local optimization. Experimental results are shown and performance comparison is presented to demonstrate the effectiveness of the proposed approach. PMID:22399933

  19. Recovering the 3d Pose and Shape of Vehicles from Stereo Images

    NASA Astrophysics Data System (ADS)

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

    2018-05-01

    The precise reconstruction and pose estimation of vehicles plays an important role, e.g. for autonomous driving. We tackle this problem on the basis of street level stereo images obtained from a moving vehicle. Starting from initial vehicle detections, we use a deformable vehicle shape prior learned from CAD vehicle data to fully reconstruct the vehicles in 3D and to recover their 3D pose and shape. To fit a deformable vehicle model to each detection by inferring the optimal parameters for pose and shape, we define an energy function leveraging reconstructed 3D data, image information, the vehicle model and derived scene knowledge. To minimise the energy function, we apply a robust model fitting procedure based on iterative Monte Carlo model particle sampling. We evaluate our approach using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012). Our approach can deal with very coarse pose initialisations and we achieve encouraging results with up to 82 % correct pose estimations. Moreover, we are able to deliver very precise orientation estimation results with an average absolute error smaller than 4°.

  20. Pose-variant facial expression recognition using an embedded image system

    NASA Astrophysics Data System (ADS)

    Song, Kai-Tai; Han, Meng-Ju; Chang, Shuo-Hung

    2008-12-01

    In recent years, one of the most attractive research areas in human-robot interaction is automated facial expression recognition. Through recognizing the facial expression, a pet robot can interact with human in a more natural manner. In this study, we focus on the facial pose-variant problem. A novel method is proposed in this paper to recognize pose-variant facial expressions. After locating the face position in an image frame, the active appearance model (AAM) is applied to track facial features. Fourteen feature points are extracted to represent the variation of facial expressions. The distance between feature points are defined as the feature values. These feature values are sent to a support vector machine (SVM) for facial expression determination. The pose-variant facial expression is classified into happiness, neutral, sadness, surprise or anger. Furthermore, in order to evaluate the performance for practical applications, this study also built a low resolution database (160x120 pixels) using a CMOS image sensor. Experimental results show that the recognition rate is 84% with the self-built database.

  1. Pose tracking for augmented reality applications in outdoor archaeological sites

    NASA Astrophysics Data System (ADS)

    Younes, Georges; Asmar, Daniel; Elhajj, Imad; Al-Harithy, Howayda

    2017-01-01

    In recent years, agencies around the world have invested huge amounts of effort toward digitizing many aspects of the world's cultural heritage. Of particular importance is the digitization of outdoor archaeological sites. In the spirit of valorization of this digital information, many groups have developed virtual or augmented reality (AR) computer applications themed around a particular archaeological object. The problem of pose tracking in outdoor AR applications is addressed. Different positional systems are analyzed, resulting in the selection of a monocular camera-based user tracker. The limitations that challenge this technique from map generation, scale, anchoring, to lighting conditions are analyzed and systematically addressed. Finally, as a case study, our pose tracking system is implemented within an AR experience in the Byblos Roman theater in Lebanon.

  2. Dezhurov and Tyurin pose in Zvezda during Expedition Three

    NASA Image and Video Library

    2001-08-01

    ISS003-E-5498 (August 2001) --- Cosmonauts Mikhail Tyurin (left) and Vladimir Dezhurov, Expedition Three flight engineers, pose for a photograph in the Zvezda Service Module. Tyurin and Dezhurov represent Rosaviakosmos. Please note: The date identifiers on some frames are not accurate due to a technical problem with one of the Expedition Three cameras. When a specific date is given in the text or description portion, it is correct.

  3. Body Parts Dependent Joint Regressors for Human Pose Estimation in Still Images.

    PubMed

    Dantone, Matthias; Gall, Juergen; Leistner, Christian; Van Gool, Luc

    2014-11-01

    In this work, we address the problem of estimating 2d human pose from still images. Articulated body pose estimation is challenging due to the large variation in body poses and appearances of the different body parts. Recent methods that rely on the pictorial structure framework have shown to be very successful in solving this task. They model the body part appearances using discriminatively trained, independent part templates and the spatial relations of the body parts using a tree model. Within such a framework, we address the problem of obtaining better part templates which are able to handle a very high variation in appearance. To this end, we introduce parts dependent body joint regressors which are random forests that operate over two layers. While the first layer acts as an independent body part classifier, the second layer takes the estimated class distributions of the first one into account and is thereby able to predict joint locations by modeling the interdependence and co-occurrence of the parts. This helps to overcome typical ambiguities of tree structures, such as self-similarities of legs and arms. In addition, we introduce a novel data set termed FashionPose that contains over 7,000 images with a challenging variation of body part appearances due to a large variation of dressing styles. In the experiments, we demonstrate that the proposed parts dependent joint regressors outperform independent classifiers or regressors. The method also performs better or similar to the state-of-the-art in terms of accuracy, while running with a couple of frames per second.

  4. POSE Algorithms for Automated Docking

    NASA Technical Reports Server (NTRS)

    Heaton, Andrew F.; Howard, Richard T.

    2011-01-01

    POSE (relative position and attitude) can be computed in many different ways. Given a sensor that measures bearing to a finite number of spots corresponding to known features (such as a target) of a spacecraft, a number of different algorithms can be used to compute the POSE. NASA has sponsored the development of a flash LIDAR proximity sensor called the Vision Navigation Sensor (VNS) for use by the Orion capsule in future docking missions. This sensor generates data that can be used by a variety of algorithms to compute POSE solutions inside of 15 meters, including at the critical docking range of approximately 1-2 meters. Previously NASA participated in a DARPA program called Orbital Express that achieved the first automated docking for the American space program. During this mission a large set of high quality mated sensor data was obtained at what is essentially the docking distance. This data set is perhaps the most accurate truth data in existence for docking proximity sensors in orbit. In this paper, the flight data from Orbital Express is used to test POSE algorithms at 1.22 meters range. Two different POSE algorithms are tested for two different Fields-of-View (FOVs) and two different pixel noise levels. The results of the analysis are used to predict future performance of the POSE algorithms with VNS data.

  5. Preconditioner and convergence study for the Quantum Computer Aided Design (QCAD) nonlinear poisson problem posed on the Ottawa Flat 270 design geometry.

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

    Kalashnikova, Irina

    2012-05-01

    A numerical study aimed to evaluate different preconditioners within the Trilinos Ifpack and ML packages for the Quantum Computer Aided Design (QCAD) non-linear Poisson problem implemented within the Albany code base and posed on the Ottawa Flat 270 design geometry is performed. This study led to some new development of Albany that allows the user to select an ML preconditioner with Zoltan repartitioning based on nodal coordinates, which is summarized. Convergence of the numerical solutions computed within the QCAD computational suite with successive mesh refinement is examined in two metrics, the mean value of the solution (an L{sup 1} norm)more » and the field integral of the solution (L{sup 2} norm).« less

  6. Hierarchical graphical-based human pose estimation via local multi-resolution convolutional neural network

    NASA Astrophysics Data System (ADS)

    Zhu, Aichun; Wang, Tian; Snoussi, Hichem

    2018-03-01

    This paper addresses the problems of the graphical-based human pose estimation in still images, including the diversity of appearances and confounding background clutter. We present a new architecture for estimating human pose using a Convolutional Neural Network (CNN). Firstly, a Relative Mixture Deformable Model (RMDM) is defined by each pair of connected parts to compute the relative spatial information in the graphical model. Secondly, a Local Multi-Resolution Convolutional Neural Network (LMR-CNN) is proposed to train and learn the multi-scale representation of each body parts by combining different levels of part context. Thirdly, a LMR-CNN based hierarchical model is defined to explore the context information of limb parts. Finally, the experimental results demonstrate the effectiveness of the proposed deep learning approach for human pose estimation.

  7. Pose-oblivious shape signature.

    PubMed

    Gal, Ran; Shamir, Ariel; Cohen-Or, Daniel

    2007-01-01

    A 3D shape signature is a compact representation for some essence of a shape. Shape signatures are commonly utilized as a fast indexing mechanism for shape retrieval. Effective shape signatures capture some global geometric properties which are scale, translation, and rotation invariant. In this paper, we introduce an effective shape signature which is also pose-oblivious. This means that the signature is also insensitive to transformations which change the pose of a 3D shape such as skeletal articulations. Although some topology-based matching methods can be considered pose-oblivious as well, our new signature retains the simplicity and speed of signature indexing. Moreover, contrary to topology-based methods, the new signature is also insensitive to the topology change of the shape, allowing us to match similar shapes with different genus. Our shape signature is a 2D histogram which is a combination of the distribution of two scalar functions defined on the boundary surface of the 3D shape. The first is a definition of a novel function called the local-diameter function. This function measures the diameter of the 3D shape in the neighborhood of each vertex. The histogram of this function is an informative measure of the shape which is insensitive to pose changes. The second is the centricity function that measures the average geodesic distance from one vertex to all other vertices on the mesh. We evaluate and compare a number of methods for measuring the similarity between two signatures, and demonstrate the effectiveness of our pose-oblivious shape signature within a 3D search engine application for different databases containing hundreds of models.

  8. Problem posing vs problem solving.

    PubMed

    Happs, S J

    1991-04-01

    This paper addresses the notion of adult education and places it within the context of the literature on adult development. Emphasis is placed on the work of Klaus Riegel (1973) who suggested a different interpretation of adult development. Dialectic operations is perceived to be the final stage of cognitive development, as opposed to formal operational thought, the traditional interpretation. Dialectic operations is a way of thinking which seeks to discover a whole new series of questions to be asked, rather than in finding 'once and for all' answers. The concepts put forward by Riegel are used as the foundation for a different interpretation of andragogy, based on the work of the Nottingham Andragogy Group (1983). The educational approach suggested to a large extent is diametrically opposed to the much criticised 'traditional' training of nurses. The view is expressed that although this is a different approach it is nonetheless worthwhile and should be embraced, particularly when nurse education is undergoing such major change.

  9. Learning toward practical head pose estimation

    NASA Astrophysics Data System (ADS)

    Sang, Gaoli; He, Feixiang; Zhu, Rong; Xuan, Shibin

    2017-08-01

    Head pose is useful information for many face-related tasks, such as face recognition, behavior analysis, human-computer interfaces, etc. Existing head pose estimation methods usually assume that the face images have been well aligned or that sufficient and precise training data are available. In practical applications, however, these assumptions are very likely to be invalid. This paper first investigates the impact of the failure of these assumptions, i.e., misalignment of face images, uncertainty and undersampling of training data, on head pose estimation accuracy of state-of-the-art methods. A learning-based approach is then designed to enhance the robustness of head pose estimation to these factors. To cope with misalignment, instead of using hand-crafted features, it seeks suitable features by learning from a set of training data with a deep convolutional neural network (DCNN), such that the training data can be best classified into the correct head pose categories. To handle uncertainty and undersampling, it employs multivariate labeling distributions (MLDs) with dense sampling intervals to represent the head pose attributes of face images. The correlation between the features and the dense MLD representations of face images is approximated by a maximum entropy model, whose parameters are optimized on the given training data. To estimate the head pose of a face image, its MLD representation is first computed according to the model based on the features extracted from the image by the trained DCNN, and its head pose is then assumed to be the one corresponding to the peak in its MLD. Evaluation experiments on the Pointing'04, FacePix, Multi-PIE, and CASIA-PEAL databases prove the effectiveness and efficiency of the proposed method.

  10. A deep learning approach for pose estimation from volumetric OCT data.

    PubMed

    Gessert, Nils; Schlüter, Matthias; Schlaefer, Alexander

    2018-05-01

    Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to its micrometer range resolution and volumetric field of view. However, OCT image processing is challenging due to speckle noise and reflection artifacts in addition to the images' 3D nature. We address pose estimation from OCT volume data with a new deep learning-based tracking framework. For this purpose, we design a new 3D convolutional neural network (CNN) architecture to directly predict the 6D pose of a small marker geometry from OCT volumes. We use a hexapod robot to automatically acquire labeled data points which we use to train 3D CNN architectures for multi-output regression. We use this setup to provide an in-depth analysis on deep learning-based pose estimation from volumes. Specifically, we demonstrate that exploiting volume information for pose estimation yields higher accuracy than relying on 2D representations with depth information. Supporting this observation, we provide quantitative and qualitative results that 3D CNNs effectively exploit the depth structure of marker objects. Regarding the deep learning aspect, we present efficient design principles for 3D CNNs, making use of insights from the 2D deep learning community. In particular, we present Inception3D as a new architecture which performs best for our application. We show that our deep learning approach reaches errors at our ground-truth label's resolution. We achieve a mean average error of 14.89 ± 9.3 µm and 0.096 ± 0.072° for position and orientation learning, respectively. Copyright © 2018 Elsevier B.V. All rights reserved.

  11. Exemplar-based human action pose correction.

    PubMed

    Shen, Wei; Deng, Ke; Bai, Xiang; Leyvand, Tommer; Guo, Baining; Tu, Zhuowen

    2014-07-01

    The launch of Xbox Kinect has built a very successful computer vision product and made a big impact on the gaming industry. This sheds lights onto a wide variety of potential applications related to action recognition. The accurate estimation of human poses from the depth image is universally a critical step. However, existing pose estimation systems exhibit failures when facing severe occlusion. In this paper, we propose an exemplar-based method to learn to correct the initially estimated poses. We learn an inhomogeneous systematic bias by leveraging the exemplar information within a specific human action domain. Furthermore, as an extension, we learn a conditional model by incorporation of pose tags to further increase the accuracy of pose correction. In the experiments, significant improvements on both joint-based skeleton correction and tag prediction are observed over the contemporary approaches, including what is delivered by the current Kinect system. Our experiments for the facial landmark correction also illustrate that our algorithm can improve the accuracy of other detection/estimation systems.

  12. A New 3D Object Pose Detection Method Using LIDAR Shape Set

    PubMed Central

    Kim, Jung-Un

    2018-01-01

    In object detection systems for autonomous driving, LIDAR sensors provide very useful information. However, problems occur because the object representation is greatly distorted by changes in distance. To solve this problem, we propose a LIDAR shape set that reconstructs the shape surrounding the object more clearly by using the LIDAR point information projected on the object. The LIDAR shape set restores object shape edges from a bird’s eye view by filtering LIDAR points projected on a 2D pixel-based front view. In this study, we use this shape set for two purposes. The first is to supplement the shape set with a LIDAR Feature map, and the second is to divide the entire shape set according to the gradient of the depth and density to create a 2D and 3D bounding box proposal for each object. We present a multimodal fusion framework that classifies objects and restores the 3D pose of each object using enhanced feature maps and shape-based proposals. The network structure consists of a VGG -based object classifier that receives multiple inputs and a LIDAR-based Region Proposal Networks (RPN) that identifies object poses. It works in a very intuitive and efficient manner and can be extended to other classes other than vehicles. Our research has outperformed object classification accuracy (Average Precision, AP) and 3D pose restoration accuracy (3D bounding box recall rate) based on the latest studies conducted with KITTI data sets. PMID:29547551

  13. A New 3D Object Pose Detection Method Using LIDAR Shape Set.

    PubMed

    Kim, Jung-Un; Kang, Hang-Bong

    2018-03-16

    In object detection systems for autonomous driving, LIDAR sensors provide very useful information. However, problems occur because the object representation is greatly distorted by changes in distance. To solve this problem, we propose a LIDAR shape set that reconstructs the shape surrounding the object more clearly by using the LIDAR point information projected on the object. The LIDAR shape set restores object shape edges from a bird's eye view by filtering LIDAR points projected on a 2D pixel-based front view. In this study, we use this shape set for two purposes. The first is to supplement the shape set with a LIDAR Feature map, and the second is to divide the entire shape set according to the gradient of the depth and density to create a 2D and 3D bounding box proposal for each object. We present a multimodal fusion framework that classifies objects and restores the 3D pose of each object using enhanced feature maps and shape-based proposals. The network structure consists of a VGG -based object classifier that receives multiple inputs and a LIDAR-based Region Proposal Networks (RPN) that identifies object poses. It works in a very intuitive and efficient manner and can be extended to other classes other than vehicles. Our research has outperformed object classification accuracy (Average Precision, AP) and 3D pose restoration accuracy (3D bounding box recall rate) based on the latest studies conducted with KITTI data sets.

  14. Posing Complex Problems Requiring Multiplicative Thinking Prompts Students to Use Sophisticated Strategies and Build Mathematical Connections

    ERIC Educational Resources Information Center

    Downton, Ann; Sullivan, Peter

    2017-01-01

    While the general planning advice offered to mathematics teachers seems to be to start with simple examples and build complexity progressively, the research reported in this article is a contribution to the body of literature that argues the reverse. That is, posing of appropriately complex tasks may actually prompt the use of more sophisticated…

  15. Multimodal Deep Autoencoder for Human Pose Recovery.

    PubMed

    Hong, Chaoqun; Yu, Jun; Wan, Jian; Tao, Dacheng; Wang, Meng

    2015-12-01

    Video-based human pose recovery is usually conducted by retrieving relevant poses using image features. In the retrieving process, the mapping between 2D images and 3D poses is assumed to be linear in most of the traditional methods. However, their relationships are inherently non-linear, which limits recovery performance of these methods. In this paper, we propose a novel pose recovery method using non-linear mapping with multi-layered deep neural network. It is based on feature extraction with multimodal fusion and back-propagation deep learning. In multimodal fusion, we construct hypergraph Laplacian with low-rank representation. In this way, we obtain a unified feature description by standard eigen-decomposition of the hypergraph Laplacian matrix. In back-propagation deep learning, we learn a non-linear mapping from 2D images to 3D poses with parameter fine-tuning. The experimental results on three data sets show that the recovery error has been reduced by 20%-25%, which demonstrates the effectiveness of the proposed method.

  16. The Potential of Statement-Posing Tasks

    ERIC Educational Resources Information Center

    Yang, Kai-Lin

    2010-01-01

    This communication aims at revealing the potential of statement-posing tasks to facilitate students' thinking and strategies of understanding proof. Besides outlining the background of statement-posing tasks, four points were advanced as potential benefits of the tasks: (1) focusing on the logic of arguments in addition to the meaning of…

  17. SU-E-T-398: Evaluation of Radiobiological Parameters Using Serial Tumor Imaging During Radiotherapy as An Inverse Ill-Posed Problem

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

    Chvetsov, A; Sandison, G; Schwartz, J

    Purpose: Combination of serial tumor imaging with radiobiological modeling can provide more accurate information on the nature of treatment response and what underlies resistance. The purpose of this article is to improve the algorithms related to imaging-based radiobilogical modeling of tumor response. Methods: Serial imaging of tumor response to radiation therapy represents a sum of tumor cell sensitivity, tumor growth rates, and the rate of cell loss which are not separated explicitly. Accurate treatment response assessment would require separation of these radiobiological determinants of treatment response because they define tumor control probability. We show that the problem of reconstruction ofmore » radiobiological parameters from serial imaging data can be considered as inverse ill-posed problem described by the Fredholm integral equation of the first kind because it is governed by a sum of several exponential processes. Therefore, the parameter reconstruction can be solved using regularization methods. Results: To study the reconstruction problem, we used a set of serial CT imaging data for the head and neck cancer and a two-level cell population model of tumor response which separates the entire tumor cell population in two subpopulations of viable and lethally damage cells. The reconstruction was done using a least squared objective function and a simulated annealing algorithm. Using in vitro data for radiobiological parameters as reference data, we shown that the reconstructed values of cell surviving fractions and potential doubling time exhibit non-physical fluctuations if no stabilization algorithms are applied. The variational regularization allowed us to obtain statistical distribution for cell surviving fractions and cell number doubling times comparable to in vitro data. Conclusion: Our results indicate that using variational regularization can increase the number of free parameters in the model and open the way to development of more advanced

  18. Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

    NASA Astrophysics Data System (ADS)

    Park, Byeolteo; Myung, Hyun

    2014-12-01

    With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments.

  19. Real-time upper-body human pose estimation from depth data using Kalman filter for simulator

    NASA Astrophysics Data System (ADS)

    Lee, D.; Chi, S.; Park, C.; Yoon, H.; Kim, J.; Park, C. H.

    2014-08-01

    Recently, many studies show that an indoor horse riding exercise has a positive effect on promoting health and diet. However, if a rider has an incorrect posture, it will be the cause of back pain. In spite of this problem, there is only few research on analyzing rider's posture. Therefore, the purpose of this study is to estimate a rider pose from a depth image using the Asus's Xtion sensor in real time. In the experiments, we show the performance of our pose estimation algorithm in order to comparing the results between our joint estimation algorithm and ground truth data.

  20. Recognizing visual focus of attention from head pose in natural meetings.

    PubMed

    Ba, Sileye O; Odobez, Jean-Marc

    2009-02-01

    We address the problem of recognizing the visual focus of attention (VFOA) of meeting participants based on their head pose. To this end, the head pose observations are modeled using a Gaussian mixture model (GMM) or a hidden Markov model (HMM) whose hidden states correspond to the VFOA. The novelties of this paper are threefold. First, contrary to previous studies on the topic, in our setup, the potential VFOA of a person is not restricted to other participants only. It includes environmental targets as well (a table and a projection screen), which increases the complexity of the task, with more VFOA targets spread in the pan as well as tilt gaze space. Second, we propose a geometric model to set the GMM or HMM parameters by exploiting results from cognitive science on saccadic eye motion, which allows the prediction of the head pose given a gaze target. Third, an unsupervised parameter adaptation step not using any labeled data is proposed, which accounts for the specific gazing behavior of each participant. Using a publicly available corpus of eight meetings featuring four persons, we analyze the above methods by evaluating, through objective performance measures, the recognition of the VFOA from head pose information obtained either using a magnetic sensor device or a vision-based tracking system. The results clearly show that in such complex but realistic situations, the VFOA recognition performance is highly dependent on how well the visual targets are separated for a given meeting participant. In addition, the results show that the use of a geometric model with unsupervised adaptation achieves better results than the use of training data to set the HMM parameters.

  1. To Strike a Pose: No Stereotype Backlash for Power Posing Women

    PubMed Central

    Rennung, Miriam; Blum, Johannes; Göritz, Anja S.

    2016-01-01

    Power posing, the adoption of open and powerful postures, has effects that parallel those of actual social power. This study explored the social evaluation of adopting powerful vs. powerless body postures in men and women regarding perceived warmth, competence, and the likelihood of eliciting admiration, envy, pity, and contempt. Previous findings suggest that the display of power by women may have side effects due to gender stereotyping, namely reduced warmth ratings and negative emotional reactions. An experiment (N = 2,473) asked participants to rate pictures of men and women who adopted high-power or low-power body postures. High-power posers were rated higher on competence, admiration, envy, and contempt compared to low-power posers, whereas the opposite was true for pity. There was no impact of power posing on perceived warmth. Contrary to expectations, the poser’s gender did not moderate any of the effects. These findings suggest that non-verbal displays of power do influence fundamental dimensions of social perception and their accompanying emotional reactions but result in comparably positive and negative evaluations for both genders. PMID:27729887

  2. An ill-posed problem for the Black-Scholes equation for a profitable forecast of prices of stock options on real market data

    NASA Astrophysics Data System (ADS)

    Klibanov, Michael V.; Kuzhuget, Andrey V.; Golubnichiy, Kirill V.

    2016-01-01

    A new empirical mathematical model for the Black-Scholes equation is proposed to forecast option prices. This model includes new interval for the price of the underlying stock, new initial and new boundary conditions. Conventional notions of maturity time and strike prices are not used. The Black-Scholes equation is solved as a parabolic equation with the reversed time, which is an ill-posed problem. Thus, a regularization method is used to solve it. To verify the validity of our model, real market data for 368 randomly selected liquid options are used. A new trading strategy is proposed. Our results indicates that our method is profitable on those options. Furthermore, it is shown that the performance of two simple extrapolation-based techniques is much worse. We conjecture that our method might lead to significant profits of those financial insitutions which trade large amounts of options. We caution, however, that further studies are necessary to verify this conjecture.

  3. Viewpoint and pose in body-form adaptation.

    PubMed

    Sekunova, Alla; Black, Michael; Parkinson, Laura; Barton, Jason J S

    2013-01-01

    Faces and bodies are complex structures, perception of which can play important roles in person identification and inference of emotional state. Face representations have been explored using behavioural adaptation: in particular, studies have shown that face aftereffects show relatively broad tuning for viewpoint, consistent with origin in a high-level structural descriptor far removed from the retinal image. Our goals were to determine first, if body aftereffects also showed a degree of viewpoint invariance, and second if they also showed pose invariance, given that changes in pose create even more dramatic changes in the 2-D retinal image. We used a 3-D model of the human body to generate headless body images, whose parameters could be varied to generate different body forms, viewpoints, and poses. In the first experiment, subjects adapted to varying viewpoints of either slim or heavy bodies in a neutral stance, followed by test stimuli that were all front-facing. In the second experiment, we used the same front-facing bodies in neutral stance as test stimuli, but compared adaptation from bodies in the same neutral stance to adaptation with the same bodies in different poses. We found that body aftereffects were obtained over substantial viewpoint changes, with no significant decline in aftereffect magnitude with increasing viewpoint difference between adapting and test images. Aftereffects also showed transfer across one change in pose but not across another. We conclude that body representations may have more viewpoint invariance than faces, and demonstrate at least some transfer across pose, consistent with a high-level structural description.

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

    NASA Astrophysics Data System (ADS)

    Jun, Chen; Wenjun, Hou; Qing, Sheng

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

  5. Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination

    PubMed Central

    Fasano, Giancarmine; Grassi, Michele

    2017-01-01

    In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective-n-Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal. PMID:28946651

  6. Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination.

    PubMed

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

    2017-09-24

    In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective- n -Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal.

  7. From the Golden Rectangle and Fibonacci to Pedagogy and Problem Posing

    ERIC Educational Resources Information Center

    Brown, Stephen I.

    1976-01-01

    Beginning with an analysis of the golden rectangle, the author shows how a series of problems for student investigation arise from queries concerning changes in conditions and analogous situations. (SD)

  8. Sensitivity computation of the ell1 minimization problem and its application to dictionary design of ill-posed problems

    NASA Astrophysics Data System (ADS)

    Horesh, L.; Haber, E.

    2009-09-01

    The ell1 minimization problem has been studied extensively in the past few years. Recently, there has been a growing interest in its application for inverse problems. Most studies have concentrated in devising ways for sparse representation of a solution using a given prototype dictionary. Very few studies have addressed the more challenging problem of optimal dictionary construction, and even these were primarily devoted to the simplistic sparse coding application. In this paper, sensitivity analysis of the inverse solution with respect to the dictionary is presented. This analysis reveals some of the salient features and intrinsic difficulties which are associated with the dictionary design problem. Equipped with these insights, we propose an optimization strategy that alleviates these hurdles while utilizing the derived sensitivity relations for the design of a locally optimal dictionary. Our optimality criterion is based on local minimization of the Bayesian risk, given a set of training models. We present a mathematical formulation and an algorithmic framework to achieve this goal. The proposed framework offers the design of dictionaries for inverse problems that incorporate non-trivial, non-injective observation operators, where the data and the recovered parameters may reside in different spaces. We test our algorithm and show that it yields improved dictionaries for a diverse set of inverse problems in geophysics and medical imaging.

  9. Transfer between pose and expression training in face recognition.

    PubMed

    Chen, Wenfeng; Liu, Chang Hong

    2009-02-01

    Prior research has shown that recognition of unfamiliar faces is susceptible to image variations due to pose and expression changes. However, little is known about how these variations on a new face are learnt and handled. We aimed to investigate whether exposures to one type of variation facilitate recognition in the untrained variation. In Experiment 1, faces were trained in multiple or single pose but were tested with a new expression. In Experiment 2, faces were trained in multiple or single expression but were tested in a new pose. We found that higher level of exposure to pose information facilitated recognition of the trained face in a new expression. However, multiple-expression training failed to transfer to a new pose. The findings suggest that generalisation of pose training may be extended to different types of variation whereas generalisation of expression training is largely confined within the trained type of variation.

  10. Regularization techniques for backward--in--time evolutionary PDE problems

    NASA Astrophysics Data System (ADS)

    Gustafsson, Jonathan; Protas, Bartosz

    2007-11-01

    Backward--in--time evolutionary PDE problems have applications in the recently--proposed retrograde data assimilation. We consider the terminal value problem for the Kuramoto--Sivashinsky equation (KSE) in a 1D periodic domain as our model system. The KSE, proposed as a model for interfacial and combustion phenomena, is also often adopted as a toy model for hydrodynamic turbulence because of its multiscale and chaotic dynamics. Backward--in--time problems are typical examples of ill-posed problem, where disturbances are amplified exponentially during the backward march. Regularization is required to solve such problems efficiently and we consider approaches in which the original ill--posed problem is approximated with a less ill--posed problem obtained by adding a regularization term to the original equation. While such techniques are relatively well--understood for linear problems, they less understood in the present nonlinear setting. We consider regularization terms with fixed magnitudes and also explore a novel approach in which these magnitudes are adapted dynamically using simple concepts from the Control Theory.

  11. Manifolds for pose tracking from monocular video

    NASA Astrophysics Data System (ADS)

    Basu, Saurav; Poulin, Joshua; Acton, Scott T.

    2015-03-01

    We formulate a simple human-pose tracking theory from monocular video based on the fundamental relationship between changes in pose and image motion vectors. We investigate the natural embedding of the low-dimensional body pose space into a high-dimensional space of body configurations that behaves locally in a linear manner. The embedded manifold facilitates the decomposition of the image motion vectors into basis motion vector fields of the tangent space to the manifold. This approach benefits from the style invariance of image motion flow vectors, and experiments to validate the fundamental theory show reasonable accuracy (within 4.9 deg of the ground truth).

  12. Relative Pose Estimation Using Image Feature Triplets

    NASA Astrophysics Data System (ADS)

    Chuang, T. Y.; Rottensteiner, F.; Heipke, C.

    2015-03-01

    A fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice. However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution, and consequently lead to an insufficient pose estimation. This paper presents a triplet-wise scheme for calibrated relative pose estimation from image point and line triplets, and investigates the effectiveness of the feature integration upon the relative pose estimation. To this end, we employ an existing point matching technique and propose a method for line triplet matching in which the relative poses are resolved during the matching procedure. The line matching method aims at establishing hypotheses about potential minimal line matches that can be used for determining the parameters of relative orientation (pose estimation) of two images with respect to the reference one; then, quantifying the agreement using the estimated orientation parameters. Rather than randomly choosing the line candidates in the matching process, we generate an associated lookup table to guide the selection of potential line matches. In addition, we integrate the homologous point and line triplets into a common adjustment procedure. In order to be able to also work with image sequences the adjustment is formulated in an incremental manner. The proposed scheme is evaluated with both synthetic and real datasets, demonstrating its satisfactory performance and revealing the effectiveness of image feature integration.

  13. The lighter side of advertising: investigating posing and lighting biases.

    PubMed

    Thomas, Nicole A; Burkitt, Jennifer A; Patrick, Regan E; Elias, Lorin J

    2008-11-01

    People tend to display the left cheek when posing for a portrait; however, this effect does not appear to generalise to advertising. The amount of body visible in the image and the sex of the poser might also contribute to the posing bias. Portraits also exhibit lateral lighting biases, with most images being lit from the left. This effect might also be present in advertisements. A total of 2801 full-page advertisements were sampled and coded for posing direction, lighting direction, sex of model, and amount of body showing. Images of females showed an overall leftward posing bias, but the biases in males depended on the amount of body visible. Males demonstrated rightward posing biases for head-only images. Overall, images tended to be lit from the top left corner. The two factors of posing and lighting biases appear to influence one another. Leftward-lit images had more leftward poses than rightward, while the opposite occurred for rightward-lit images. Collectively, these results demonstrate that the posing biases in advertisements are dependent on the amount of body showing in the image, and that biases in lighting direction interact with these posing biases.

  14. A cross docking pipeline for improving pose prediction and virtual screening performance

    NASA Astrophysics Data System (ADS)

    Kumar, Ashutosh; Zhang, Kam Y. J.

    2018-01-01

    Pose prediction and virtual screening performance of a molecular docking method depend on the choice of protein structures used for docking. Multiple structures for a target protein are often used to take into account the receptor flexibility and problems associated with a single receptor structure. However, the use of multiple receptor structures is computationally expensive when docking a large library of small molecules. Here, we propose a new cross-docking pipeline suitable to dock a large library of molecules while taking advantage of multiple target protein structures. Our method involves the selection of a suitable receptor for each ligand in a screening library utilizing ligand 3D shape similarity with crystallographic ligands. We have prospectively evaluated our method in D3R Grand Challenge 2 and demonstrated that our cross-docking pipeline can achieve similar or better performance than using either single or multiple-receptor structures. Moreover, our method displayed not only decent pose prediction performance but also better virtual screening performance over several other methods.

  15. B-Mode ultrasound pose recovery via surgical fiducial segmentation and tracking

    NASA Astrophysics Data System (ADS)

    Asoni, Alessandro; Ketcha, Michael; Kuo, Nathanael; Chen, Lei; Boctor, Emad; Coon, Devin; Prince, Jerry L.

    2015-03-01

    Ultrasound Doppler imaging may be used to detect blood clots after surgery, a common problem. However, this requires consistent probe positioning over multiple time instances and therefore significant sonographic expertise. Analysis of ultrasound B-mode images of a fiducial implanted at the surgical site offers a landmark to guide a user to the same location repeatedly. We demonstrate that such an implanted fiducial may be successfully detected and tracked to calculate pose and guide a clinician consistently to the site of surgery, potentially reducing the ultrasound experience required for point of care monitoring.

  16. Assessing the risk posed by high-turbidity water to water supplies.

    PubMed

    Chang, Chia-Ling; Liao, Chung-Sheng

    2012-05-01

    The objective of this study is to assess the risk of insufficient water supply posed by high-turbidity water. Several phenomena can pose risks to the sufficiency of a water supply; this study concerns risks to water treatment plants from particular properties of rainfall and raw water turbidity. High-turbidity water can impede water treatment plant operations; rainfall properties can influence the degree of soil erosion. Thus, water turbidity relates to rainfall characteristics. Exceedance probabilities are presented for different rainfall intensities and turbidities of water. When the turbidity of raw water is higher than 5,000 NTU, it can cause operational problems for a water treatment plant. Calculations show that the turbidity of raw water at the Ban-Sin water treatment plant will be higher than 5,000 NTU if the rainfall intensity is larger than 165 mm/day. The exceedance probability of high turbidity (turbidity >5,000 NTU) in the Ban-Sin water treatment plant is larger than 10%. When any water treatment plant cannot work regularly, its ability to supply water to its customers is at risk.

  17. Head pose estimation in computer vision: a survey.

    PubMed

    Murphy-Chutorian, Erik; Trivedi, Mohan Manubhai

    2009-04-01

    The capacity to estimate the head pose of another person is a common human ability that presents a unique challenge for computer vision systems. Compared to face detection and recognition, which have been the primary foci of face-related vision research, identity-invariant head pose estimation has fewer rigorously evaluated systems or generic solutions. In this paper, we discuss the inherent difficulties in head pose estimation and present an organized survey describing the evolution of the field. Our discussion focuses on the advantages and disadvantages of each approach and spans 90 of the most innovative and characteristic papers that have been published on this topic. We compare these systems by focusing on their ability to estimate coarse and fine head pose, highlighting approaches that are well suited for unconstrained environments.

  18. Transfer between Pose and Illumination Training in Face Recognition

    ERIC Educational Resources Information Center

    Liu, Chang Hong; Bhuiyan, Md. Al-Amin; Ward, James; Sui, Jie

    2009-01-01

    The relationship between pose and illumination learning in face recognition was examined in a yes-no recognition paradigm. The authors assessed whether pose training can transfer to a new illumination or vice versa. Results show that an extensive level of pose training through a face-name association task was able to generalize to a new…

  19. An improved silhouette for human pose estimation

    NASA Astrophysics Data System (ADS)

    Hawes, Anthony H.; Iftekharuddin, Khan M.

    2017-08-01

    We propose a novel method for analyzing images that exploits the natural lines of a human poses to find areas where self-occlusion could be present. Errors caused by self-occlusion cause several modern human pose estimation methods to mis-identify body parts, which reduces the performance of most action recognition algorithms. Our method is motivated by the observation that, in several cases, occlusion can be reasoned using only boundary lines of limbs. An intelligent edge detection algorithm based on the above principle could be used to augment the silhouette with information useful for pose estimation algorithms and push forward progress on occlusion handling for human action recognition. The algorithm described is applicable to computer vision scenarios involving 2D images and (appropriated flattened) 3D images.

  20. Temporal subtraction of chest radiographs compensating pose differences

    NASA Astrophysics Data System (ADS)

    von Berg, Jens; Dworzak, Jalda; Klinder, Tobias; Manke, Dirk; Kreth, Adrian; Lamecker, Hans; Zachow, Stefan; Lorenz, Cristian

    2011-03-01

    Temporal subtraction techniques using 2D image registration improve the detectability of interval changes from chest radiographs. Although such methods are well known for some time they are not widely used in radiologic practice. The reason is the occurrence of strong pose differences between two acquisitions with a time interval of months to years in between. Such strong perspective differences occur in a reasonable number of cases. They cannot be compensated by available image registration methods and thus mask interval changes to be undetectable. In this paper a method is proposed to estimate a 3D pose difference by the adaptation of a 3D rib cage model to both projections. The difference between both is then compensated for, thus producing a subtraction image with virtually no change in pose. The method generally assumes that no 3D image data is available from the patient. The accuracy of pose estimation is validated with chest phantom images acquired under controlled geometric conditions. A subtle interval change simulated by a piece of plastic foam attached to the phantom becomes visible in subtraction images generated with this technique even at strong angular pose differences like an anterior-posterior inclination of 13 degrees.

  1. Method of orthogonally splitting imaging pose measurement

    NASA Astrophysics Data System (ADS)

    Zhao, Na; Sun, Changku; Wang, Peng; Yang, Qian; Liu, Xintong

    2018-01-01

    In order to meet the aviation's and machinery manufacturing's pose measurement need of high precision, fast speed and wide measurement range, and to resolve the contradiction between measurement range and resolution of vision sensor, this paper proposes an orthogonally splitting imaging pose measurement method. This paper designs and realizes an orthogonally splitting imaging vision sensor and establishes a pose measurement system. The vision sensor consists of one imaging lens, a beam splitter prism, cylindrical lenses and dual linear CCD. Dual linear CCD respectively acquire one dimensional image coordinate data of the target point, and two data can restore the two dimensional image coordinates of the target point. According to the characteristics of imaging system, this paper establishes the nonlinear distortion model to correct distortion. Based on cross ratio invariability, polynomial equation is established and solved by the least square fitting method. After completing distortion correction, this paper establishes the measurement mathematical model of vision sensor, and determines intrinsic parameters to calibrate. An array of feature points for calibration is built by placing a planar target in any different positions for a few times. An terative optimization method is presented to solve the parameters of model. The experimental results show that the field angle is 52 °, the focus distance is 27.40 mm, image resolution is 5185×5117 pixels, displacement measurement error is less than 0.1mm, and rotation angle measurement error is less than 0.15°. The method of orthogonally splitting imaging pose measurement can satisfy the pose measurement requirement of high precision, fast speed and wide measurement range.

  2. Tecnología Digital y Formulación de Problemas durante el Proceso de Resolución de Problemas = Digital Technology and Formulation of Problems during the Process of Solving Problems

    ERIC Educational Resources Information Center

    Aguilar-Magallón, Daniel Aurelio; Reyes-Martìnez, Isaid

    2016-01-01

    We analyze and discuss ways in which prospective high school teachers pose and pursue questions or problems during the process of reconstructing dynamic configurations of figures given in problem statements. To what extent does the systematic use of a Dynamic Geometry System (DGS) help the participants engage in problem posing activities…

  3. An investigation into multi-dimensional prediction models to estimate the pose error of a quadcopter in a CSP plant setting

    NASA Astrophysics Data System (ADS)

    Lock, Jacobus C.; Smit, Willie J.; Treurnicht, Johann

    2016-05-01

    The Solar Thermal Energy Research Group (STERG) is investigating ways to make heliostats cheaper to reduce the total cost of a concentrating solar power (CSP) plant. One avenue of research is to use unmanned aerial vehicles (UAVs) to automate and assist with the heliostat calibration process. To do this, the pose estimation error of each UAV must be determined and integrated into a calibration procedure. A computer vision (CV) system is used to measure the pose of a quadcopter UAV. However, this CV system contains considerable measurement errors. Since this is a high-dimensional problem, a sophisticated prediction model must be used to estimate the measurement error of the CV system for any given pose measurement vector. This paper attempts to train and validate such a model with the aim of using it to determine the pose error of a quadcopter in a CSP plant setting.

  4. Contactless and pose invariant biometric identification using hand surface.

    PubMed

    Kanhangad, Vivek; Kumar, Ajay; Zhang, David

    2011-05-01

    This paper presents a novel approach for hand matching that achieves significantly improved performance even in the presence of large hand pose variations. The proposed method utilizes a 3-D digitizer to simultaneously acquire intensity and range images of the user's hand presented to the system in an arbitrary pose. The approach involves determination of the orientation of the hand in 3-D space followed by pose normalization of the acquired 3-D and 2-D hand images. Multimodal (2-D as well as 3-D) palmprint and hand geometry features, which are simultaneously extracted from the user's pose normalized textured 3-D hand, are used for matching. Individual matching scores are then combined using a new dynamic fusion strategy. Our experimental results on the database of 114 subjects with significant pose variations yielded encouraging results. Consistent (across various hand features considered) performance improvement achieved with the pose correction demonstrates the usefulness of the proposed approach for hand based biometric systems with unconstrained and contact-free imaging. The experimental results also suggest that the dynamic fusion approach employed in this work helps to achieve performance improvement of 60% (in terms of EER) over the case when matching scores are combined using the weighted sum rule.

  5. [Specific problems posed by carbohydrate utilization in the rainbow trout].

    PubMed

    Bergot, F

    1979-01-01

    Carbohydrate incorporation in trout diets arises problems both at digestive and metabolic levels. Digestive utilization of carbohydrate closely depends on their molecular weight. In addition, in the case of complex carbohydrates (starches), different factors such as the level of incorporation, the amount consumed and the physical state of starch influence the digestibility. The measurement of digestibility in itself is confronted with methodological difficulties. The way the feces are collected can affect the digestion coefficient. Dietary carbohydrates actually serve as a source of energy. Nevertheless, above a certain level in the diet, intolerance phenomena may appear. The question that arises now is to establish the optimal part that carbohydrates can take in the metabolizable energy of a given diet.

  6. Examining the Preparatory Effects of Problem Generation and Solution Generation on Learning from Instruction

    ERIC Educational Resources Information Center

    Kapur, Manu

    2018-01-01

    The goal of this paper is to isolate the preparatory effects of problem-generation from solution generation in problem-posing contexts, and their underlying mechanisms on learning from instruction. Using a randomized-controlled design, students were assigned to one of two conditions: (a) problem-posing with solution generation, where they…

  7. DOCKSCORE: a webserver for ranking protein-protein docked poses.

    PubMed

    Malhotra, Sony; Mathew, Oommen K; Sowdhamini, Ramanathan

    2015-04-24

    Proteins interact with a variety of other molecules such as nucleic acids, small molecules and other proteins inside the cell. Structure-determination of protein-protein complexes is challenging due to several reasons such as the large molecular weights of these macromolecular complexes, their dynamic nature, difficulty in purification and sample preparation. Computational docking permits an early understanding of the feasibility and mode of protein-protein interactions. However, docking algorithms propose a number of solutions and it is a challenging task to select the native or near native pose(s) from this pool. DockScore is an objective scoring scheme that can be used to rank protein-protein docked poses. It considers several interface parameters, namely, surface area, evolutionary conservation, hydrophobicity, short contacts and spatial clustering at the interface for scoring. We have implemented DockScore in form of a webserver for its use by the scientific community. DockScore webserver can be employed, subsequent to docking, to perform scoring of the docked solutions, starting from multiple poses as inputs. The results, on scores and ranks for all the poses, can be downloaded as a csv file and graphical view of the interface of best ranking poses is possible. The webserver for DockScore is made freely available for the scientific community at: http://caps.ncbs.res.in/dockscore/ .

  8. The Coffee-Milk Mixture Problem Revisited

    ERIC Educational Resources Information Center

    Marion, Charles F.

    2015-01-01

    This analysis of a problem that is frequently posed at professional development workshops, in print, and on the Web--the coffee-milk mixture riddle--illustrates the timeless advice of George Pólya's masterpiece on problem solving in mathematics, "How to Solve It." In his book, Pólya recommends that problems previously solved and put…

  9. Problem-Solving Support for English Language Learners

    ERIC Educational Resources Information Center

    Wiest, Lynda R.

    2008-01-01

    Although word problems pose greater language demands, they also encourage more meaningful problem solving and mathematics understanding. With proper instructional support, a student-centered, investigative approach to contextualized problem solving benefits all students. This article presents a lesson built on an author-adapted version of the…

  10. Research Mathematicians' Practices in Selecting Mathematical Problems

    ERIC Educational Resources Information Center

    Misfeldt, Morten; Johansen, Mikkel Willum

    2015-01-01

    Developing abilities to create, inquire into, qualify, and choose among mathematical problems is an important educational goal. In this paper, we elucidate how mathematicians work with mathematical problems in order to understand this mathematical process. More specifically, we investigate how mathematicians select and pose problems and discuss to…

  11. Spontaneous and posed facial expression in Parkinson's disease.

    PubMed

    Smith, M C; Smith, M K; Ellgring, H

    1996-09-01

    Spontaneous and posed emotional facial expressions in individuals with Parkinson's disease (PD, n = 12) were compared with those of healthy age-matched controls (n = 12). The intensity and amount of facial expression in PD patients were expected to be reduced for spontaneous but not posed expressions. Emotional stimuli were video clips selected from films, 2-5 min in duration, designed to elicit feelings of happiness, sadness, fear, disgust, or anger. Facial movements were coded using Ekman and Friesen's (1978) Facial Action Coding System (FACS). In addition, participants rated their emotional experience on 9-point Likert scales. The PD group showed significantly less overall facial reactivity than did controls when viewing the films. The predicted Group X Condition (spontaneous vs. posed) interaction effect on smile intensity was found when PD participants with more severe disease were compared with those with milder disease and with controls. In contrast, ratings of emotional experience were similar for both groups. Depression was positively associated with emotion rating but not with measures of facial activity. Spontaneous facial expression appears to be selectively affected in PD, whereas posed expression and emotional experience remain relatively intact.

  12. A globally well-posed finite element algorithm for aerodynamics applications

    NASA Technical Reports Server (NTRS)

    Iannelli, G. S.; Baker, A. J.

    1991-01-01

    A finite element CFD algorithm is developed for Euler and Navier-Stokes aerodynamic applications. For the linear basis, the resultant approximation is at least second-order-accurate in time and space for synergistic use of three procedures: (1) a Taylor weak statement, which provides for derivation of companion conservation law systems with embedded dispersion-error control mechanisms; (2) a stiffly stable second-order-accurate implicit Rosenbrock-Runge-Kutta temporal algorithm; and (3) a matrix tensor product factorization that permits efficient numerical linear algebra handling of the terminal large-matrix statement. Thorough analyses are presented regarding well-posed boundary conditions for inviscid and viscous flow specifications. Numerical solutions are generated and compared for critical evaluation of quasi-one- and two-dimensional Euler and Navier-Stokes benchmark test problems.

  13. NASCAR drivers pose in Endeavour

    NASA Image and Video Library

    2003-07-02

    NASCAR driver Dale Jarrett poses outside the hatch of orbiter Endeavour. Jarrett and other drivers Ryan Newman and Jimmie Johnson were on a tour of KSC. The men are scheduled to drive in the Pepsi 400 auto race being held July 5 at the Daytona International Speedway, Daytona Beach.

  14. NASCAR drivers pose in Endeavour

    NASA Image and Video Library

    2003-07-02

    NASCAR driver Jimmie Johnson poses outside the hatch of orbiter Endeavour. Johnson and other drivers Ryan Newman and Dale Jarrett were on a tour of KSC. The men are scheduled to drive in the Pepsi 400 auto race being held July 5 at the Daytona International Speedway, Daytona Beach.

  15. Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.

    PubMed

    Sun, Liang; Huo, Wei; Jiao, Zongxia

    2017-03-01

    This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Recycled Water Poses Disinfectant Problem

    ERIC Educational Resources Information Center

    Chemical and Engineering News, 1973

    1973-01-01

    Discusses the possible health hazards resulting from released nucleic acid of inactivated viruses, chlorinated nonliving organic molecules, and overestimated reliability of waste treatment standards. Suggests the recycle system use a dual disinfectant such as chlorine and ozone in water treatment. (CC)

  17. Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

    PubMed Central

    Wouda, Frank J.; Giuberti, Matteo; Bellusci, Giovanni; Veltink, Peter H.

    2016-01-01

    Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-driven methods to decrease the number of body-worn sensors. In this work, we contribute to this field by analyzing the capabilities of using either artificial neural networks (eager learning) or nearest neighbor search (lazy learning) for such a problem. Sparse orientation features, resulting from sensor fusion of only five inertial measurement units with magnetometers, are mapped to full-body poses. Both eager and lazy learning algorithms are shown to be capable of constructing this mapping. The full-body output poses are visually plausible with an average joint position error of approximately 7 cm, and average joint angle error of 7∘. Additionally, the effects of magnetic disturbances typical in orientation tracking on the estimation of full-body poses was also investigated, where nearest neighbor search showed better performance for such disturbances. PMID:27983676

  18. Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

    PubMed

    Wouda, Frank J; Giuberti, Matteo; Bellusci, Giovanni; Veltink, Peter H

    2016-12-15

    Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-driven methods to decrease the number of body-worn sensors. In this work, we contribute to this field by analyzing the capabilities of using either artificial neural networks (eager learning) or nearest neighbor search (lazy learning) for such a problem. Sparse orientation features, resulting from sensor fusion of only five inertial measurement units with magnetometers, are mapped to full-body poses. Both eager and lazy learning algorithms are shown to be capable of constructing this mapping. The full-body output poses are visually plausible with an average joint position error of approximately 7 cm, and average joint angle error of 7 ∘ . Additionally, the effects of magnetic disturbances typical in orientation tracking on the estimation of full-body poses was also investigated, where nearest neighbor search showed better performance for such disturbances.

  19. Teaching Problem-Posing and Inquiry to Teachers Using a Non-Traditional Operation

    ERIC Educational Resources Information Center

    White, D.; Sullivan, E.

    2018-01-01

    Teaching teachers to participate in mathematical inquiry has the potential to both transform belief systems about mathematics and to transform teachers from consumers of mathematics to producers of mathematics. The focus of this paper is to describe the use of a problem, based on a non-traditional binary operation, to encourage and teach…

  20. Proceedings of Colloquium on Stable Solutions of Some Ill-Posed Problems, October 9, 1979.

    DTIC Science & Technology

    1980-06-30

    4. In (24] iterative process (9) was applied for calculation of the magnetization of thin magnetic films . This problem is of interest for computer...equation fl I (x-t) -f(t) = g(x), x > 1. (i) Its multidimensional analogue fmX-tK-if(t)dt = g(x), xEA, AnD (2) can be intepreted as the problem of

  1. Maternal Physiological Dysregulation While Parenting Poses Risk for Infant Attachment Disorganization and Behavior Problems

    PubMed Central

    Leerkes, Esther M.; Su, Jinni; Calkins, Susan D.; O’Brien, Marion; Supple, Andrew J.

    2017-01-01

    The extent to which indices of maternal physiological arousal (skin conductance augmentation) and regulation (vagal withdrawal) while parenting predict infant attachment disorganization and behavior problems directly or indirectly via maternal sensitivity was examined in a sample of 259 mothers and their infants. Two covariates, maternal self-reported emotional risk and AAI attachment coherence were assessed prenatally. Mothers’ physiological arousal and regulation were measured during parenting tasks when infants were 6 months old. Maternal sensitivity was observed during distress-eliciting tasks when infants were 6 and 14 months old, and an average sensitivity score was calculated. Attachment disorganization was observed during the Strange Situation when infants were 14 months old and mothers reported on infants’ behavior problems when infants were 27 months old. Over and above covariates, mothers’ arousal and regulation while parenting interacted to predict infant attachment disorganization and behavior problems such that maternal arousal was associated with higher attachment disorganization and behavior problems when maternal regulation was low but not when maternal regulation was high. This effect was direct and not explained by maternal sensitivity. Results suggest that maternal physiological dysregulation while parenting places infants at risk for psychopathology. PMID:26902983

  2. Maternal physiological dysregulation while parenting poses risk for infant attachment disorganization and behavior problems.

    PubMed

    Leerkes, Esther M; Su, Jinni; Calkins, Susan D; O'Brien, Marion; Supple, Andrew J

    2017-02-01

    The extent to which indices of maternal physiological arousal (skin conductance augmentation) and regulation (vagal withdrawal) while parenting predict infant attachment disorganization and behavior problems directly or indirectly via maternal sensitivity was examined in a sample of 259 mothers and their infants. Two covariates, maternal self-reported emotional risk and Adult Attachment Interview attachment coherence were assessed prenatally. Mothers' physiological arousal and regulation were measured during parenting tasks when infants were 6 months old. Maternal sensitivity was observed during distress-eliciting tasks when infants were 6 and 14 months old, and an average sensitivity score was calculated. Attachment disorganization was observed during the Strange Situation when infants were 14 months old, and mothers reported on infants' behavior problems when infants were 27 months old. Over and above covariates, mothers' arousal and regulation while parenting interacted to predict infant attachment disorganization and behavior problems such that maternal arousal was associated with higher attachment disorganization and behavior problems when maternal regulation was low but not when maternal regulation was high. This effect was direct and not explained by maternal sensitivity. The results suggest that maternal physiological dysregulation while parenting places infants at risk for psychopathology.

  3. High School Students' Mathematical Problem Posing: An Exploratory Study in the Classroom.

    ERIC Educational Resources Information Center

    Borba, Marcelo C.

    This study investigated how 8 secondary school students coped with the task of choosing their own problems for a 9-week course in an alternative school in Ithaca, New York. The students chose a theme to be investigated before the class started, collected real data on the theme, and if they felt the need for it, analyzed it using Function Probe, a…

  4. The present global financial and economic crisis poses an additional risk factor for mental health problems on the employees.

    PubMed

    Avčin, Bojana Avguštin; Kučina, Andrea Užmah; Sarotar, Brigita Novak; Radovanović, Mirjana; Plesničar, Blanka Kores

    2011-09-01

    The global financial and economic crisis starting in 2007 led to a deterioration of several socio-economic determinants of mental health. The aim of this cross-sectional study was to examine the impact of the present economic crisis on the depression and anxiety levels of the employed in the private and public sector in Slovenia. Altogether 1592 employees completed an internet based self-reported questionnaire. Data about perceived impact of the economic crisis, several socio-demographic, socioeconomic, and health parameters were collected. Depression symptoms were assessed by the Center for Epidemiological Studies-Depression Scale and anxiety symptoms by the Spielberger State-Inventory. Regression models were used 1) to explore the associations of the economic crisis with the level of depression and anxiety symptoms while controlling for some sociodemographic and work characteristic variables, and 2) to understand the relationship between some potentially important socioeconomic variables and the perception of the economic crisis. Depressive and anxiety scores were significantly increased among 590 (46.6%) employees being affected by the economic crisis. The level of depressive symptoms was significantly associated with perceived impact by the crisis, recent sick leave, reported injuries sustained at work, benzodiazepine and analgesic use, the lack of emotional support, and trust in crisis telephone lines. The level of anxiety symptoms yielded the robust association with the level of depression symptoms, reported injuries sustained on the way to work and education. The economic crisis poses an additional risk factor for mental health problems which clinicians should internalize and become more aware of them. Symptoms of depression and anxiety can be masked in high-utilizers of medical care with physical complaints or psychoactive drug use.

  5. 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.

  6. Driver head pose tracking with thermal camera

    NASA Astrophysics Data System (ADS)

    Bole, S.; Fournier, C.; Lavergne, C.; Druart, G.; Lépine, T.

    2016-09-01

    Head pose can be seen as a coarse estimation of gaze direction. In automotive industry, knowledge about gaze direction could optimize Human-Machine Interface (HMI) and Advanced Driver Assistance Systems (ADAS). Pose estimation systems are often based on camera when applications have to be contactless. In this paper, we explore uncooled thermal imagery (8-14μm) for its intrinsic night vision capabilities and for its invariance versus lighting variations. Two methods are implemented and compared, both are aided by a 3D model of the head. The 3D model, mapped with thermal texture, allows to synthesize a base of 2D projected models, differently oriented and labeled in yaw and pitch. The first method is based on keypoints. Keypoints of models are matched with those of the query image. These sets of matchings, aided with the 3D shape of the model, allow to estimate 3D pose. The second method is a global appearance approach. Among all 2D models of the base, algorithm searches the one which is the closest to the query image thanks to a weighted least squares difference.

  7. A Support System for the Electric Appliance Control Using Pose Recognition

    NASA Astrophysics Data System (ADS)

    Kawano, Takuya; Yamamoto, Kazuhiko; Kato, Kunihito; Hongo, Hitoshi

    In this paper, we propose an electric appliance control support system for aged and bedridden people using pose recognition. We proposed a pose recognition system that distinguishes between seven poses of the user on the bed. First, the face and arm regions of the user are detected by using the skin color. Our system focuses a recognition region surrounding the face region. Next, the higher order local autocorrelation features within the region are extracted. The linear discriminant analysis creates the coefficient matrix that can optimally distinguish among training data from the seven poses. Our algorithm can recognize the seven poses even if the subject wears different clothes and slightly shifts or slants on the bed. From the experimental results, our system achieved an accuracy rate of over 99 %. Then, we show that it possibles to construct one of a user-friendly system.

  8. The Erdős-Hajnal problem of hypergraph colouring, its generalizations, and related problems

    NASA Astrophysics Data System (ADS)

    Raigorodskii, Andrei M.; Shabanov, Dmitrii A.

    2011-10-01

    Extremal problems concerned with hypergraph colouring first arose in connection with classical investigations in the 1920-30s which gave rise to Ramsey theory. Since then, this area has assumed a central position in extremal combinatorics. This survey is devoted to one well-known problem of hypergraph colouring, the Erdős-Hajnal problem, initially posed in 1961. It opened a line of research in hypergraph theory whose methods and results are widely used in various domains of discrete mathematics. Bibliography: 109 titles.

  9. A Nonrigid Kernel-Based Framework for 2D-3D Pose Estimation and 2D Image Segmentation

    PubMed Central

    Sandhu, Romeil; Dambreville, Samuel; Yezzi, Anthony; Tannenbaum, Allen

    2013-01-01

    In this work, we present a nonrigid approach to jointly solving the tasks of 2D-3D pose estimation and 2D image segmentation. In general, most frameworks that couple both pose estimation and segmentation assume that one has exact knowledge of the 3D object. However, under nonideal conditions, this assumption may be violated if only a general class to which a given shape belongs is given (e.g., cars, boats, or planes). Thus, we propose to solve the 2D-3D pose estimation and 2D image segmentation via nonlinear manifold learning of 3D embedded shapes for a general class of objects or deformations for which one may not be able to associate a skeleton model. Thus, the novelty of our method is threefold: First, we present and derive a gradient flow for the task of nonrigid pose estimation and segmentation. Second, due to the possible nonlinear structures of one’s training set, we evolve the preimage obtained through kernel PCA for the task of shape analysis. Third, we show that the derivation for shape weights is general. This allows us to use various kernels, as well as other statistical learning methodologies, with only minimal changes needing to be made to the overall shape evolution scheme. In contrast with other techniques, we approach the nonrigid problem, which is an infinite-dimensional task, with a finite-dimensional optimization scheme. More importantly, we do not explicitly need to know the interaction between various shapes such as that needed for skeleton models as this is done implicitly through shape learning. We provide experimental results on several challenging pose estimation and segmentation scenarios. PMID:20733218

  10. Coupled multiview autoencoders with locality sensitivity for three-dimensional human pose estimation

    NASA Astrophysics Data System (ADS)

    Yu, Jialin; Sun, Jifeng; Luo, Shasha; Duan, Bichao

    2017-09-01

    Estimating three-dimensional (3D) human poses from a single camera is usually implemented by searching pose candidates with image descriptors. Existing methods usually suppose that the mapping from feature space to pose space is linear, but in fact, their mapping relationship is highly nonlinear, which heavily degrades the performance of 3D pose estimation. We propose a method to recover 3D pose from a silhouette image. It is based on the multiview feature embedding (MFE) and the locality-sensitive autoencoders (LSAEs). On the one hand, we first depict the manifold regularized sparse low-rank approximation for MFE and then the input image is characterized by a fused feature descriptor. On the other hand, both the fused feature and its corresponding 3D pose are separately encoded by LSAEs. A two-layer back-propagation neural network is trained by parameter fine-tuning and then used to map the encoded 2D features to encoded 3D poses. Our LSAE ensures a good preservation of the local topology of data points. Experimental results demonstrate the effectiveness of our proposed method.

  11. Optimal accelerometer placement on a robot arm for pose estimation

    NASA Astrophysics Data System (ADS)

    Wijayasinghe, Indika B.; Sanford, Joseph D.; Abubakar, Shamsudeen; Saadatzi, Mohammad Nasser; Das, Sumit K.; Popa, Dan O.

    2017-05-01

    The performance of robots to carry out tasks depends in part on the sensor information they can utilize. Usually, robots are fitted with angle joint encoders that are used to estimate the position and orientation (or the pose) of its end-effector. However, there are numerous situations, such as in legged locomotion, mobile manipulation, or prosthetics, where such joint sensors may not be present at every, or any joint. In this paper we study the use of inertial sensors, in particular accelerometers, placed on the robot that can be used to estimate the robot pose. Studying accelerometer placement on a robot involves many parameters that affect the performance of the intended positioning task. Parameters such as the number of accelerometers, their size, geometric placement and Signal-to-Noise Ratio (SNR) are included in our study of their effects for robot pose estimation. Due to the ubiquitous availability of inexpensive accelerometers, we investigated pose estimation gains resulting from using increasingly large numbers of sensors. Monte-Carlo simulations are performed with a two-link robot arm to obtain the expected value of an estimation error metric for different accelerometer configurations, which are then compared for optimization. Results show that, with a fixed SNR model, the pose estimation error decreases with increasing number of accelerometers, whereas for a SNR model that scales inversely to the accelerometer footprint, the pose estimation error increases with the number of accelerometers. It is also shown that the optimal placement of the accelerometers depends on the method used for pose estimation. The findings suggest that an integration-based method favors placement of accelerometers at the extremities of the robot links, whereas a kinematic-constraints-based method favors a more uniformly distributed placement along the robot links.

  12. Comparative assessment of techniques for initial pose estimation using monocular vision

    NASA Astrophysics Data System (ADS)

    Sharma, Sumant; D`Amico, Simone

    2016-06-01

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

  13. Pose estimation of teeth through crown-shape matching

    NASA Astrophysics Data System (ADS)

    Mok, Vevin; Ong, Sim Heng; Foong, Kelvin W. C.; Kondo, Toshiaki

    2002-05-01

    This paper presents a technique for determining a tooth's pose given a dental plaster cast and a set of generic tooth models. The ultimate goal of pose estimation is to obtain information about the sizes and positions of the roots, which lie hidden within the gums, without the use of X-rays, CT or MRI. In our approach, the tooth of interest is first extracted from the 3D dental cast image through segmentation. 2D views are then generated from the extracted tooth and are matched against a target view generated from the generic model with known pose. Additional views are generated in the vicinity of the best view and the entire process is repeated until convergence. Upon convergence, the generic tooth is superimposed onto the dental cast to show the position of the root. The results of applying the technique to canines demonstrate the excellent potential of the algorithm for generic tooth fitting.

  14. Rethinking pedagogy for second-order differential equations: a simplified approach to understanding well-posed problems

    NASA Astrophysics Data System (ADS)

    Tisdell, Christopher C.

    2017-07-01

    Knowing an equation has a unique solution is important from both a modelling and theoretical point of view. For over 70 years, the approach to learning and teaching 'well posedness' of initial value problems (IVPs) for second- and higher-order ordinary differential equations has involved transforming the problem and its analysis to a first-order system of equations. We show that this excursion is unnecessary and present a direct approach regarding second- and higher-order problems that does not require an understanding of systems.

  15. STS-31 MS Sullivan poses next to stowed EMU in OV-103's airlock

    NASA Image and Video Library

    1990-04-29

    STS-31 Mission Specialist (MS) Kathryn D. Sullivan poses for a picture before beginning extravehicular mobility unit (EMU) donning procedures in the airlock of Discovery, Orbiter Vehicle (OV) 103. Sullivan will remove the lower torso restraint and don EMU which is supported on an airlock adapter plate (AAP). When suited, Sullivan will be ready for contingency extravehicular activity (EVA) in the event that problems arise with the Hubble Space Telescope (HST) deployment. Displayed on the front of the EMU are the STS-31 mission insignia and the JSC Weightless Environment Training Facility (WETF) insignia.

  16. Tooth display and lip position during spontaneous and posed smiling in adults.

    PubMed

    Van Der Geld, Pieter; Oosterveld, Paul; Berge, Stefaan J; Kuijpers-Jagtman, Anne M

    2008-08-01

    To analyze differences in tooth display, lip-line height, and smile width between the posed smiling record, traditionally produced for orthodontic diagnosis, and the spontaneous (Duchenne) smile of joy. The faces of 122 male participants were each filmed during spontaneous and posed smiling. Spontaneous smiles were elicited through the participants watching a comical movie. Maxillary and mandibular lip-line heights, tooth display, and smile width were measured using a digital videographic method for smile analysis. Paired sample t-tests were used to compare measurements of posed and spontaneous smiling. Maxillary lip-line heights during spontaneous smiling were significantly higher than during posed smiling. Compared to spontaneous smiling, tooth display in the (pre)molar area during posed smiling decreased by up to 30%, along with a significant reduction of smile width. During posed smiling, also mandibular lip-line heights changed and the teeth were more covered by the lower lip than during spontaneous smiling. Reduced lip-line heights, tooth display, and smile width on a posed smiling record can have implications for the diagnostics of lip-line height, smile arc, buccal corridors, and plane of occlusion. Spontaneous smiling records next to posed smiling records are therefore recommended for diagnostic purposes. Because of the dynamic nature of spontaneous smiling, it is proposed to switch to dynamic video recording of the smile.

  17. Variations in Both-Addends-Unknown Problems

    ERIC Educational Resources Information Center

    Champagne, Zachary M.; Schoen, Robert; Riddell, Claire M.

    2014-01-01

    Early elementary school students are expected to solve twelve distinct types of word problems. A math researcher and two teachers pose a structure for thinking about one problem type that has not been studied as closely as the other eleven. In this article, the authors share some of their discoveries with regard to the variety of…

  18. Head Pose Estimation Using Multilinear Subspace Analysis for Robot Human Awareness

    NASA Technical Reports Server (NTRS)

    Ivanov, Tonislav; Matthies, Larry; Vasilescu, M. Alex O.

    2009-01-01

    Mobile robots, operating in unconstrained indoor and outdoor environments, would benefit in many ways from perception of the human awareness around them. Knowledge of people's head pose and gaze directions would enable the robot to deduce which people are aware of the its presence, and to predict future motions of the people for better path planning. To make such inferences, requires estimating head pose on facial images that are combination of multiple varying factors, such as identity, appearance, head pose, and illumination. By applying multilinear algebra, the algebra of higher-order tensors, we can separate these factors and estimate head pose regardless of subject's identity or image conditions. Furthermore, we can automatically handle uncertainty in the size of the face and its location. We demonstrate a pipeline of on-the-move detection of pedestrians with a robot stereo vision system, segmentation of the head, and head pose estimation in cluttered urban street scenes.

  19. Curve Set Feature-Based Robust and Fast Pose Estimation Algorithm

    PubMed Central

    Hashimoto, Koichi

    2017-01-01

    Bin picking refers to picking the randomly-piled objects from a bin for industrial production purposes, and robotic bin picking is always used in automated assembly lines. In order to achieve a higher productivity, a fast and robust pose estimation algorithm is necessary to recognize and localize the randomly-piled parts. This paper proposes a pose estimation algorithm for bin picking tasks using point cloud data. A novel descriptor Curve Set Feature (CSF) is proposed to describe a point by the surface fluctuation around this point and is also capable of evaluating poses. The Rotation Match Feature (RMF) is proposed to match CSF efficiently. The matching process combines the idea of the matching in 2D space of origin Point Pair Feature (PPF) algorithm with nearest neighbor search. A voxel-based pose verification method is introduced to evaluate the poses and proved to be more than 30-times faster than the kd-tree-based verification method. Our algorithm is evaluated against a large number of synthetic and real scenes and proven to be robust to noise, able to detect metal parts, more accurately and more than 10-times faster than PPF and Oriented, Unique and Repeatable (OUR)-Clustered Viewpoint Feature Histogram (CVFH). PMID:28771216

  20. Automatic pose correction for image-guided nonhuman primate brain surgery planning

    NASA Astrophysics Data System (ADS)

    Ghafurian, Soheil; Chen, Antong; Hines, Catherine; Dogdas, Belma; Bone, Ashleigh; Lodge, Kenneth; O'Malley, Stacey; Winkelmann, Christopher T.; Bagchi, Ansuman; Lubbers, Laura S.; Uslaner, Jason M.; Johnson, Colena; Renger, John; Zariwala, Hatim A.

    2016-03-01

    Intracranial delivery of recombinant DNA and neurochemical analysis in nonhuman primate (NHP) requires precise targeting of various brain structures via imaging derived coordinates in stereotactic surgeries. To attain targeting precision, the surgical planning needs to be done on preoperative three dimensional (3D) CT and/or MR images, in which the animals head is fixed in a pose identical to the pose during the stereotactic surgery. The matching of the image to the pose in the stereotactic frame can be done manually by detecting key anatomical landmarks on the 3D MR and CT images such as ear canal and ear bar zero position. This is not only time intensive but also prone to error due to the varying initial poses in the images which affects both the landmark detection and rotation estimation. We have introduced a fast, reproducible, and semi-automatic method to detect the stereotactic coordinate system in the image and correct the pose. The method begins with a rigid registration of the subject images to an atlas and proceeds to detect the anatomical landmarks through a sequence of optimization, deformable and multimodal registration algorithms. The results showed similar precision (maximum difference of 1.71 in average in-plane rotation) to a manual pose correction.

  1. An anti-disturbing real time pose estimation method and system

    NASA Astrophysics Data System (ADS)

    Zhou, Jian; Zhang, Xiao-hu

    2011-08-01

    Pose estimation relating two-dimensional (2D) images to three-dimensional (3D) rigid object need some known features to track. In practice, there are many algorithms which perform this task in high accuracy, but all of these algorithms suffer from features lost. This paper investigated the pose estimation when numbers of known features or even all of them were invisible. Firstly, known features were tracked to calculate pose in the current and the next image. Secondly, some unknown but good features to track were automatically detected in the current and the next image. Thirdly, those unknown features which were on the rigid and could match each other in the two images were retained. Because of the motion characteristic of the rigid object, the 3D information of those unknown features on the rigid could be solved by the rigid object's pose at the two moment and their 2D information in the two images except only two case: the first one was that both camera and object have no relative motion and camera parameter such as focus length, principle point, and etc. have no change at the two moment; the second one was that there was no shared scene or no matched feature in the two image. Finally, because those unknown features at the first time were known now, pose estimation could go on in the followed images in spite of the missing of known features in the beginning by repeating the process mentioned above. The robustness of pose estimation by different features detection algorithms such as Kanade-Lucas-Tomasi (KLT) feature, Scale Invariant Feature Transform (SIFT) and Speed Up Robust Feature (SURF) were compared and the compact of the different relative motion between camera and the rigid object were discussed in this paper. Graphic Processing Unit (GPU) parallel computing was also used to extract and to match hundreds of features for real time pose estimation which was hard to work on Central Processing Unit (CPU). Compared with other pose estimation methods, this new

  2. 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.

  3. 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.

  4. Space Vehicle Pose Estimation via Optical Correlation and Nonlinear Estimation

    NASA Technical Reports Server (NTRS)

    Rakoczy, John M.; Herren, Kenneth A.

    2008-01-01

    A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

  5. Space Vehicle Pose Estimation via Optical Correlation and Nonlinear Estimation

    NASA Technical Reports Server (NTRS)

    Rakoczy, John; Herren, Kenneth

    2007-01-01

    A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

  6. Locating binding poses in protein-ligand systems using reconnaissance metadynamics

    PubMed Central

    Söderhjelm, Pär; Tribello, Gareth A.; Parrinello, Michele

    2012-01-01

    A molecular dynamics-based protocol is proposed for finding and scoring protein-ligand binding poses. This protocol uses the recently developed reconnaissance metadynamics method, which employs a self-learning algorithm to construct a bias that pushes the system away from the kinetic traps where it would otherwise remain. The exploration of phase space with this algorithm is shown to be roughly six to eight times faster than unbiased molecular dynamics and is only limited by the time taken to diffuse about the surface of the protein. We apply this method to the well-studied trypsin–benzamidine system and show that we are able to refind all the poses obtained from a reference EADock blind docking calculation. These poses can be scored based on the length of time the system remains trapped in the pose. Alternatively, one can perform dimensionality reduction on the output trajectory and obtain a map of phase space that can be used in more expensive free-energy calculations. PMID:22440749

  7. Locating binding poses in protein-ligand systems using reconnaissance metadynamics.

    PubMed

    Söderhjelm, Pär; Tribello, Gareth A; Parrinello, Michele

    2012-04-03

    A molecular dynamics-based protocol is proposed for finding and scoring protein-ligand binding poses. This protocol uses the recently developed reconnaissance metadynamics method, which employs a self-learning algorithm to construct a bias that pushes the system away from the kinetic traps where it would otherwise remain. The exploration of phase space with this algorithm is shown to be roughly six to eight times faster than unbiased molecular dynamics and is only limited by the time taken to diffuse about the surface of the protein. We apply this method to the well-studied trypsin-benzamidine system and show that we are able to refind all the poses obtained from a reference EADock blind docking calculation. These poses can be scored based on the length of time the system remains trapped in the pose. Alternatively, one can perform dimensionality reduction on the output trajectory and obtain a map of phase space that can be used in more expensive free-energy calculations.

  8. Rethinking Pedagogy for Second-Order Differential Equations: A Simplified Approach to Understanding Well-Posed Problems

    ERIC Educational Resources Information Center

    Tisdell, Christopher C.

    2017-01-01

    Knowing an equation has a unique solution is important from both a modelling and theoretical point of view. For over 70 years, the approach to learning and teaching "well posedness" of initial value problems (IVPs) for second- and higher-order ordinary differential equations has involved transforming the problem and its analysis to a…

  9. Preparatory power posing affects nonverbal presence and job interview performance.

    PubMed

    Cuddy, Amy J C; Wilmuth, Caroline A; Yap, Andy J; Carney, Dana R

    2015-07-01

    The authors tested whether engaging in expansive (vs. contractive) "power poses" before a stressful job interview--preparatory power posing--would enhance performance during the interview. Participants adopted high-power (i.e., expansive, open) poses or low-power (i.e., contractive, closed) poses, and then prepared and delivered a speech to 2 evaluators as part of a mock job interview. All interview speeches were videotaped and coded for overall performance and hireability and for 2 potential mediators: verbal content (e.g., structure, content) and nonverbal presence (e.g., captivating, enthusiastic). As predicted, those who prepared for the job interview with high- (vs. low-) power poses performed better and were more likely to be chosen for hire; this relation was mediated by nonverbal presence, but not by verbal content. Although previous research has focused on how a nonverbal behavior that is enacted during interactions and observed by perceivers affects how those perceivers evaluate and respond to the actor, this experiment focused on how a nonverbal behavior that is enacted before the interaction and unobserved by perceivers affects the actor's performance, which, in turn, affects how perceivers evaluate and respond to the actor. This experiment reveals a theoretically novel and practically informative result that demonstrates the causal relation between preparatory nonverbal behavior and subsequent performance and outcomes. (c) 2015 APA, all rights reserved).

  10. Consistently Showing Your Best Side? Intra-individual Consistency in #Selfie Pose Orientation

    PubMed Central

    Lindell, Annukka K.

    2017-01-01

    Painted and photographic portraits of others show an asymmetric bias: people favor their left cheek. Both experimental and database studies confirm that the left cheek bias extends to selfies. To date all such selfie studies have been cross-sectional; whether individual selfie-takers tend to consistently favor the same pose orientation, or switch between multiple poses, remains to be determined. The present study thus examined intra-individual consistency in selfie pose orientations. Two hundred selfie-taking participants (100 male and 100 female) were identified by searching #selfie on Instagram. The most recent 10 single-subject selfies for the each of the participants were selected and coded for type of selfie (normal; mirror) and pose orientation (left, midline, right), resulting in a sample of 2000 selfies. Results indicated that selfie-takers do tend to consistently adopt a preferred pose orientation (α = 0.72), with more participants showing an overall left cheek bias (41%) than would be expected by chance (overall right cheek bias = 31.5%; overall midline bias = 19.5%; no overall bias = 8%). Logistic regression modellng, controlling for the repeated measure of participant identity, indicated that sex did not affect pose orientation. However, selfie type proved a significant predictor when comparing left and right cheek poses, with a stronger left cheek bias for mirror than normal selfies. Overall, these novel findings indicate that selfie-takers show intra-individual consistency in pose orientation, and in addition, replicate the previously reported left cheek bias for selfies and other types of portrait, confirming that the left cheek bias also presents within individuals’ selfie corpora. PMID:28270790

  11. Applying Pose Clustering and MD Simulations To Eliminate False Positives in Molecular Docking.

    PubMed

    Makeneni, Spandana; Thieker, David F; Woods, Robert J

    2018-03-26

    In this work, we developed a computational protocol that employs multiple molecular docking experiments, followed by pose clustering, molecular dynamic simulations (10 ns), and energy rescoring to produce reliable 3D models of antibody-carbohydrate complexes. The protocol was applied to 10 antibody-carbohydrate co-complexes and three unliganded (apo) antibodies. Pose clustering significantly reduced the number of potential poses. For each system, 15 or fewer clusters out of 100 initial poses were generated and chosen for further analysis. Molecular dynamics (MD) simulations allowed the docked poses to either converge or disperse, and rescoring increased the likelihood that the best-ranked pose was an acceptable pose. This approach is amenable to automation and can be a valuable aid in determining the structure of antibody-carbohydrate complexes provided there is no major side chain rearrangement or backbone conformational change in the H3 loop of the CDR regions. Further, the basic protocol of docking a small ligand to a known binding site, clustering the results, and performing MD with a suitable force field is applicable to any protein ligand system.

  12. A Surprisingly Radical Problem

    ERIC Educational Resources Information Center

    Ledford, Sarah D.; Garner, Mary L.; Teachey, Angela L.

    2012-01-01

    Sometimes, in the teaching and learning of mathematics, open-ended problems posed by teachers or students can lead to a fuller understanding of mathematical concepts--a depth of understanding that no one could have anticipated. Interesting solutions and ideas emerged unexpectedly when the authors asked prospective and in-service teachers an "old"…

  13. The Development of Questioning as a Means of Framing Problems and Posing Challenges.

    ERIC Educational Resources Information Center

    Feigenbaum, Peter

    When a person encounters a problem, the character, form, and content of his or her response provides psychologists with useful and interesting information about processes of challenge and their relationship to intellectual development. In essence, challenge is a developing relationship that is defined on the one hand by objective factors (a person…

  14. The relative pose estimation of aircraft based on contour model

    NASA Astrophysics Data System (ADS)

    Fu, Tai; Sun, Xiangyi

    2017-02-01

    This paper proposes a relative pose estimation approach based on object contour model. The first step is to obtain a two-dimensional (2D) projection of three-dimensional (3D)-model-based target, which will be divided into 40 forms by clustering and LDA analysis. Then we proceed by extracting the target contour in each image and computing their Pseudo-Zernike Moments (PZM), thus a model library is constructed in an offline mode. Next, we spot a projection contour that resembles the target silhouette most in the present image from the model library with reference of PZM; then similarity transformation parameters are generated as the shape context is applied to match the silhouette sampling location, from which the identification parameters of target can be further derived. Identification parameters are converted to relative pose parameters, in the premise that these values are the initial result calculated via iterative refinement algorithm, as the relative pose parameter is in the neighborhood of actual ones. At last, Distance Image Iterative Least Squares (DI-ILS) is employed to acquire the ultimate relative pose parameters.

  15. Hysteresis and Phase Transitions in a Lattice Regularization of an Ill-Posed Forward-Backward Diffusion Equation

    NASA Astrophysics Data System (ADS)

    Helmers, Michael; Herrmann, Michael

    2018-03-01

    We consider a lattice regularization for an ill-posed diffusion equation with a trilinear constitutive law and study the dynamics of phase interfaces in the parabolic scaling limit. Our main result guarantees for a certain class of single-interface initial data that the lattice solutions satisfy asymptotically a free boundary problem with a hysteretic Stefan condition. The key challenge in the proof is to control the microscopic fluctuations that are inevitably produced by the backward diffusion when a particle passes the spinodal region.

  16. Head Pose Estimation on Eyeglasses Using Line Detection and Classification Approach

    NASA Astrophysics Data System (ADS)

    Setthawong, Pisal; Vannija, Vajirasak

    This paper proposes a unique approach for head pose estimation of subjects with eyeglasses by using a combination of line detection and classification approaches. Head pose estimation is considered as an important non-verbal form of communication and could also be used in the area of Human-Computer Interface. A major improvement of the proposed approach is that it allows estimation of head poses at a high yaw/pitch angle when compared with existing geometric approaches, does not require expensive data preparation and training, and is generally fast when compared with other approaches.

  17. Probabilistic Elastic Part Model: A Pose-Invariant Representation for Real-World Face Verification.

    PubMed

    Li, Haoxiang; Hua, Gang

    2018-04-01

    Pose variation remains to be a major challenge for real-world face recognition. We approach this problem through a probabilistic elastic part model. We extract local descriptors (e.g., LBP or SIFT) from densely sampled multi-scale image patches. By augmenting each descriptor with its location, a Gaussian mixture model (GMM) is trained to capture the spatial-appearance distribution of the face parts of all face images in the training corpus, namely the probabilistic elastic part (PEP) model. Each mixture component of the GMM is confined to be a spherical Gaussian to balance the influence of the appearance and the location terms, which naturally defines a part. Given one or multiple face images of the same subject, the PEP-model builds its PEP representation by sequentially concatenating descriptors identified by each Gaussian component in a maximum likelihood sense. We further propose a joint Bayesian adaptation algorithm to adapt the universally trained GMM to better model the pose variations between the target pair of faces/face tracks, which consistently improves face verification accuracy. Our experiments show that we achieve state-of-the-art face verification accuracy with the proposed representations on the Labeled Face in the Wild (LFW) dataset, the YouTube video face database, and the CMU MultiPIE dataset.

  18. Attribute And-Or Grammar for Joint Parsing of Human Pose, Parts and Attributes.

    PubMed

    Park, Seyoung; Nie, Xiaohan; Zhu, Song-Chun

    2017-07-25

    This paper presents an attribute and-or grammar (A-AOG) model for jointly inferring human body pose and human attributes in a parse graph with attributes augmented to nodes in the hierarchical representation. In contrast to other popular methods in the current literature that train separate classifiers for poses and individual attributes, our method explicitly represents the decomposition and articulation of body parts, and account for the correlations between poses and attributes. The A-AOG model is an amalgamation of three traditional grammar formulations: (i)Phrase structure grammar representing the hierarchical decomposition of the human body from whole to parts; (ii)Dependency grammar modeling the geometric articulation by a kinematic graph of the body pose; and (iii)Attribute grammar accounting for the compatibility relations between different parts in the hierarchy so that their appearances follow a consistent style. The parse graph outputs human detection, pose estimation, and attribute prediction simultaneously, which are intuitive and interpretable. We conduct experiments on two tasks on two datasets, and experimental results demonstrate the advantage of joint modeling in comparison with computing poses and attributes independently. Furthermore, our model obtains better performance over existing methods for both pose estimation and attribute prediction tasks.

  19. Empirical mode decomposition-based facial pose estimation inside video sequences

    NASA Astrophysics Data System (ADS)

    Qing, Chunmei; Jiang, Jianmin; Yang, Zhijing

    2010-03-01

    We describe a new pose-estimation algorithm via integration of the strength in both empirical mode decomposition (EMD) and mutual information. While mutual information is exploited to measure the similarity between facial images to estimate poses, EMD is exploited to decompose input facial images into a number of intrinsic mode function (IMF) components, which redistribute the effect of noise, expression changes, and illumination variations as such that, when the input facial image is described by the selected IMF components, all the negative effects can be minimized. Extensive experiments were carried out in comparisons to existing representative techniques, and the results show that the proposed algorithm achieves better pose-estimation performances with robustness to noise corruption, illumination variation, and facial expressions.

  20. A robust vision-based sensor fusion approach for real-time pose estimation.

    PubMed

    Assa, Akbar; Janabi-Sharifi, Farrokh

    2014-02-01

    Object pose estimation is of great importance to many applications, such as augmented reality, localization and mapping, motion capture, and visual servoing. Although many approaches based on a monocular camera have been proposed, only a few works have concentrated on applying multicamera sensor fusion techniques to pose estimation. Higher accuracy and enhanced robustness toward sensor defects or failures are some of the advantages of these schemes. This paper presents a new Kalman-based sensor fusion approach for pose estimation that offers higher accuracy and precision, and is robust to camera motion and image occlusion, compared to its predecessors. Extensive experiments are conducted to validate the superiority of this fusion method over currently employed vision-based pose estimation algorithms.

  1. Postural Communication of Emotion: Perception of Distinct Poses of Five Discrete Emotions.

    PubMed

    Lopez, Lukas D; Reschke, Peter J; Knothe, Jennifer M; Walle, Eric A

    2017-01-01

    Emotion can be communicated through multiple distinct modalities. However, an often-ignored channel of communication is posture. Recent research indicates that bodily posture plays an important role in the perception of emotion. However, research examining postural communication of emotion is limited by the variety of validated emotion poses and unknown cohesion of categorical and dimensional ratings. The present study addressed these limitations. Specifically, we examined individuals' (1) categorization of emotion postures depicting 5 discrete emotions (joy, sadness, fear, anger, and disgust), (2) categorization of different poses depicting the same discrete emotion, and (3) ratings of valence and arousal for each emotion pose. Findings revealed that participants successfully categorized each posture as the target emotion, including disgust. Moreover, participants accurately identified multiple distinct poses within each emotion category. In addition to the categorical responses, dimensional ratings of valence and arousal revealed interesting overlap and distinctions between and within emotion categories. These findings provide the first evidence of an identifiable posture for disgust and instantiate the principle of equifinality of emotional communication through the inclusion of distinct poses within emotion categories. Additionally, the dimensional ratings corroborated the categorical data and provide further granularity for future researchers to consider in examining how distinct emotion poses are perceived.

  2. The anatomical problem posed by brain complexity and size: a potential solution.

    PubMed

    DeFelipe, Javier

    2015-01-01

    Over the years the field of neuroanatomy has evolved considerably but unraveling the extraordinary structural and functional complexity of the brain seems to be an unattainable goal, partly due to the fact that it is only possible to obtain an imprecise connection matrix of the brain. The reasons why reaching such a goal appears almost impossible to date is discussed here, together with suggestions of how we could overcome this anatomical problem by establishing new methodologies to study the brain and by promoting interdisciplinary collaboration. Generating a realistic computational model seems to be the solution rather than attempting to fully reconstruct the whole brain or a particular brain region.

  3. Single leg balancing in ballet: effects of shoe conditions and poses.

    PubMed

    Lobo da Costa, Paula H; Azevedo Nora, Fernanda G S; Vieira, Marcus Fraga; Bosch, Kerstin; Rosenbaum, Dieter

    2013-03-01

    The purpose of this study was to describe the effects of lower limb positioning and shoe conditions on stability levels of selected single leg ballet poses performed in demi-pointe position. Fourteen female non-professional ballet dancers (mean age of 18.4±2.8 years and mean body mass index of 21.5±2.8kg/m(2)) who had practiced ballet for at least seven years, without any musculoskeletal impairment volunteered to participate in this study. A capacitive pressure platform allowed for the assessment of center of pressure variables related to the execution of three single leg ballet poses in demi pointé position: attitude devant, attitude derriére, and attitude a la second. Peak pressures, contact areas, COP oscillation areas, anterior-posterior and medio-lateral COP oscillations and velocities were compared between two shoe conditions (barefoot versus slippers) and among the different poses. Barefoot performances produced more stable poses with significantly higher plantar contact areas, smaller COP oscillation areas and smaller anterior-posterior COP oscillations. COP oscillation areas, anterior-posterior COP oscillations and medio-lateral COP velocities indicated that attitude a la second is the least challenging and attitude derriére the most challenging pose. Copyright © 2012 Elsevier B.V. All rights reserved.

  4. Application of Shape Similarity in Pose Selection and Virtual Screening in CSARdock2014 Exercise.

    PubMed

    Kumar, Ashutosh; Zhang, Kam Y J

    2016-06-27

    To evaluate the applicability of shape similarity in docking-based pose selection and virtual screening, we participated in the CSARdock2014 benchmark exercise for identifying the correct docking pose of inhibitors targeting factor XA, spleen tyrosine kinase, and tRNA methyltransferase. This exercise provides a valuable opportunity for researchers to test their docking programs, methods, and protocols in a blind testing environment. In the CSARdock2014 benchmark exercise, we have implemented an approach that uses ligand 3D shape similarity to facilitate docking-based pose selection and virtual screening. We showed here that ligand 3D shape similarity between bound poses could be used to identify the native-like pose from an ensemble of docking-generated poses. Our method correctly identified the native pose as the top-ranking pose for 73% of test cases in a blind testing environment. Moreover, the pose selection results also revealed an excellent correlation between ligand 3D shape similarity scores and RMSD to X-ray crystal structure ligand. In the virtual screening exercise, the average RMSD for our pose prediction was found to be 1.02 Å, and it was one of the top performances achieved in CSARdock2014 benchmark exercise. Furthermore, the inclusion of shape similarity improved virtual screening performance of docking-based scoring and ranking. The coefficient of determination (r(2)) between experimental activities and docking scores for 276 spleen tyrosine kinase inhibitors was found to be 0.365 but reached 0.614 when the ligand 3D shape similarity was included.

  5. [New insight into bacterial zoonotic pathogens posing health hazards to humans].

    PubMed

    Ciszewski, Marcin; Czekaj, Tomasz; Szewczyk, Eligia Maria

    2014-01-01

    This article presents the problem of evolutionary changes of zoonotic pathogens responsible for human diseases. Everyone is exposed to the risk of zoonotic infection, particularly employees having direct contact with animals, i.e. veterinarians, breeders, butchers and workers of animal products' processing industry. The article focuses on pathogens monitored by the European Centre for Disease Prevention and Control (ECDC), which has been collecting statistical data on zoonoses from all European Union countries for 19 years and publishing collected data in annual epidemiological reports. Currently, the most important 11 pathogens responsible for causing human zoonotic diseases are being monitored, of which seven are bacteria: Salmonella spp., Campylobacter spp., Listeria monocytogenes, Mycobacterium bovis, Brucella spp., Coxiella burnetti and Verotoxin-producing E. coli (VTEC)/Shiga-like toxin producing E. coli (STEC). As particularly important are considered foodborne pathogens. The article also includes new emerging zoonotic bacteria, which are not currently monitored by ECDC but might pose a serious epidemiological problem in a foreseeable future: Streptococcus iniae, S. suis, S. dysgalactiae and staphylococci: Staphylococcus intermedius, S. pseudintermedius. Those species have just crossed the animal-human interspecies barrier. The exact mechanism of this phenomenon remains unknown, it is connected, however, with genetic variability, capability to survive in changing environment. These abilities derive from DNA rearrangement and horizontal gene transfer between bacterial cells. Substantial increase in the number of scientific publications on this subject, observed over the last few years, illustrates the importance of the problem.

  6. Temporally Scalable Visual SLAM using a Reduced Pose Graph

    DTIC Science & Technology

    2012-05-25

    m b r i d g e , m a 0 213 9 u s a — w w w. c s a i l . m i t . e d u MIT-CSAIL-TR-2012-013 May 25, 2012 Temporally Scalable Visual SLAM using a...00-00-2012 4. TITLE AND SUBTITLE Temporally Scalable Visual SLAM using a Reduced Pose Graph 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...demonstrate a system for temporally scalable visual SLAM using a reduced pose graph representation. Unlike previous visual SLAM approaches that use

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

    PubMed

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

    2018-03-28

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

  8. The Profile of Creativity and Proposing Statistical Problem Quality Level Reviewed From Cognitive Style

    NASA Astrophysics Data System (ADS)

    Awi; Ahmar, A. S.; Rahman, A.; Minggi, I.; Mulbar, U.; Asdar; Ruslan; Upu, H.; Alimuddin; Hamda; Rosidah; Sutamrin; Tiro, M. A.; Rusli

    2018-01-01

    This research aims to reveal the profile about the level of creativity and the ability to propose statistical problem of students at Mathematics Education 2014 Batch in the State University of Makassar in terms of their cognitive style. This research uses explorative qualitative method by giving meta-cognitive scaffolding at the time of research. The hypothesis of research is that students who have field independent (FI) cognitive style in statistics problem posing from the provided information already able to propose the statistical problem that can be solved and create new data and the problem is already been included as a high quality statistical problem, while students who have dependent cognitive field (FD) commonly are still limited in statistics problem posing that can be finished and do not load new data and the problem is included as medium quality statistical problem.

  9. Pose Invariant Face Recognition Based on Hybrid Dominant Frequency Features

    NASA Astrophysics Data System (ADS)

    Wijaya, I. Gede Pasek Suta; Uchimura, Keiichi; Hu, Zhencheng

    Face recognition is one of the most active research areas in pattern recognition, not only because the face is a human biometric characteristics of human being but also because there are many potential applications of the face recognition which range from human-computer interactions to authentication, security, and surveillance. This paper presents an approach to pose invariant human face image recognition. The proposed scheme is based on the analysis of discrete cosine transforms (DCT) and discrete wavelet transforms (DWT) of face images. From both the DCT and DWT domain coefficients, which describe the facial information, we build compact and meaningful features vector, using simple statistical measures and quantization. This feature vector is called as the hybrid dominant frequency features. Then, we apply a combination of the L2 and Lq metric to classify the hybrid dominant frequency features to a person's class. The aim of the proposed system is to overcome the high memory space requirement, the high computational load, and the retraining problems of previous methods. The proposed system is tested using several face databases and the experimental results are compared to a well-known Eigenface method. The proposed method shows good performance, robustness, stability, and accuracy without requiring geometrical normalization. Furthermore, the purposed method has low computational cost, requires little memory space, and can overcome retraining problem.

  10. Student Party Riots. Problem-Oriented Guides for Police. Problem-Specific Guides Series. Guide Number 39

    ERIC Educational Resources Information Center

    Madensen, Tamara D.; Eck, John E.

    2006-01-01

    Alcohol-related riots among university students pose a significant problem for police agencies that serve college communities. The intensity of the disturbances may vary. However, the possible outcomes include property destruction and physical violence and are a serious threat to community and officer safety. This report provides a framework for…

  11. Potential Energy Sources Pose Mining Problem

    ERIC Educational Resources Information Center

    Chemical and Engineering News, 1974

    1974-01-01

    Summarizes the discussions of a Division of Industrial and Engineering Chemistry symposium on solids handling for synthetic fuels production. Included is a description of technical difficulties with the use of coal seams and deposits of oil shale and oil sand as potential sources of fuel. (CC)

  12. Multilayer Joint Gait-Pose Manifolds for Human Gait Motion Modeling.

    PubMed

    Ding, Meng; Fan, Guolian

    2015-11-01

    We present new multilayer joint gait-pose manifolds (multilayer JGPMs) for complex human gait motion modeling, where three latent variables are defined jointly in a low-dimensional manifold to represent a variety of body configurations. Specifically, the pose variable (along the pose manifold) denotes a specific stage in a walking cycle; the gait variable (along the gait manifold) represents different walking styles; and the linear scale variable characterizes the maximum stride in a walking cycle. We discuss two kinds of topological priors for coupling the pose and gait manifolds, i.e., cylindrical and toroidal, to examine their effectiveness and suitability for motion modeling. We resort to a topologically-constrained Gaussian process (GP) latent variable model to learn the multilayer JGPMs where two new techniques are introduced to facilitate model learning under limited training data. First is training data diversification that creates a set of simulated motion data with different strides. Second is the topology-aware local learning to speed up model learning by taking advantage of the local topological structure. The experimental results on the Carnegie Mellon University motion capture data demonstrate the advantages of our proposed multilayer models over several existing GP-based motion models in terms of the overall performance of human gait motion modeling.

  13. Optical neural network system for pose determination of spinning satellites

    NASA Technical Reports Server (NTRS)

    Lee, Andrew; Casasent, David

    1990-01-01

    An optical neural network architecture and algorithm based on a Hopfield optimization network are presented for multitarget tracking. This tracker utilizes a neuron for every possible target track, and a quadratic energy function of neural activities which is minimized using gradient descent neural evolution. The neural net tracker is demonstrated as part of a system for determining position and orientation (pose) of spinning satellites with respect to a robotic spacecraft. The input to the system is time sequence video from a single camera. Novelty detection and filtering are utilized to locate and segment novel regions from the input images. The neural net multitarget tracker determines the correspondences (or tracks) of the novel regions as a function of time, and hence the paths of object (satellite) parts. The path traced out by a given part or region is approximately elliptical in image space, and the position, shape and orientation of the ellipse are functions of the satellite geometry and its pose. Having a geometric model of the satellite, and the elliptical path of a part in image space, the three-dimensional pose of the satellite is determined. Digital simulation results using this algorithm are presented for various satellite poses and lighting conditions.

  14. Algorithms for output feedback, multiple-model, and decentralized control problems

    NASA Technical Reports Server (NTRS)

    Halyo, N.; Broussard, J. R.

    1984-01-01

    The optimal stochastic output feedback, multiple-model, and decentralized control problems with dynamic compensation are formulated and discussed. Algorithms for each problem are presented, and their relationship to a basic output feedback algorithm is discussed. An aircraft control design problem is posed as a combined decentralized, multiple-model, output feedback problem. A control design is obtained using the combined algorithm. An analysis of the design is presented.

  15. A multi-camera system for real-time pose estimation

    NASA Astrophysics Data System (ADS)

    Savakis, Andreas; Erhard, Matthew; Schimmel, James; Hnatow, Justin

    2007-04-01

    This paper presents a multi-camera system that performs face detection and pose estimation in real-time and may be used for intelligent computing within a visual sensor network for surveillance or human-computer interaction. The system consists of a Scene View Camera (SVC), which operates at a fixed zoom level, and an Object View Camera (OVC), which continuously adjusts its zoom level to match objects of interest. The SVC is set to survey the whole filed of view. Once a region has been identified by the SVC as a potential object of interest, e.g. a face, the OVC zooms in to locate specific features. In this system, face candidate regions are selected based on skin color and face detection is accomplished using a Support Vector Machine classifier. The locations of the eyes and mouth are detected inside the face region using neural network feature detectors. Pose estimation is performed based on a geometrical model, where the head is modeled as a spherical object that rotates upon the vertical axis. The triangle formed by the mouth and eyes defines a vertical plane that intersects the head sphere. By projecting the eyes-mouth triangle onto a two dimensional viewing plane, equations were obtained that describe the change in its angles as the yaw pose angle increases. These equations are then combined and used for efficient pose estimation. The system achieves real-time performance for live video input. Testing results assessing system performance are presented for both still images and video.

  16. Optical correlation based pose estimation using bipolar phase grayscale amplitude spatial light modulators

    NASA Astrophysics Data System (ADS)

    Outerbridge, Gregory John, II

    Pose estimation techniques have been developed on both optical and digital correlator platforms to aid in the autonomous rendezvous and docking of spacecraft. This research has focused on the optical architecture, which utilizes high-speed bipolar-phase grayscale-amplitude spatial light modulators as the image and correlation filter devices. The optical approach has the primary advantage of optical parallel processing: an extremely fast and efficient way of performing complex correlation calculations. However, the constraints imposed on optically implementable filters makes optical correlator based posed estimation technically incompatible with the popular weighted composite filter designs successfully used on the digital platform. This research employs a much simpler "bank of filters" approach to optical pose estimation that exploits the inherent efficiency of optical correlation devices. A novel logarithmically mapped optically implementable matched filter combined with a pose search algorithm resulted in sub-degree standard deviations in angular pose estimation error. These filters were extremely simple to generate, requiring no complicated training sets and resulted in excellent performance even in the presence of significant background noise. Common edge detection and scaling of the input image was the only image pre-processing necessary for accurate pose detection at all alignment distances of interest.

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

    PubMed Central

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

    2018-01-01

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

  18. Teaching Human Poses Interactively to a Social Robot

    PubMed Central

    Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A.

    2013-01-01

    The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics. PMID:24048336

  19. Teaching human poses interactively to a social robot.

    PubMed

    Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A

    2013-09-17

    The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics.

  20. Problem Drift: Teaching Curriculum With(in) a World of Emerging Significance

    ERIC Educational Resources Information Center

    Banting, Nat; Simmt, Elaine

    2017-01-01

    In this paper we frame our observations in enactivism, specifically problem posing, to propose the notion of problem drift as a method to analyze the curriculum generating actions of small group learning systems in relation to teacher interventions intended to trigger specific content goals. Teacher attentiveness to problem drift is suggested to…

  1. Using physics-based pose predictions and free energy perturbation calculations to predict binding poses and relative binding affinities for FXR ligands in the D3R Grand Challenge 2

    NASA Astrophysics Data System (ADS)

    Athanasiou, Christina; Vasilakaki, Sofia; Dellis, Dimitris; Cournia, Zoe

    2018-01-01

    Computer-aided drug design has become an integral part of drug discovery and development in the pharmaceutical and biotechnology industry, and is nowadays extensively used in the lead identification and lead optimization phases. The drug design data resource (D3R) organizes challenges against blinded experimental data to prospectively test computational methodologies as an opportunity for improved methods and algorithms to emerge. We participated in Grand Challenge 2 to predict the crystallographic poses of 36 Farnesoid X Receptor (FXR)-bound ligands and the relative binding affinities for two designated subsets of 18 and 15 FXR-bound ligands. Here, we present our methodology for pose and affinity predictions and its evaluation after the release of the experimental data. For predicting the crystallographic poses, we used docking and physics-based pose prediction methods guided by the binding poses of native ligands. For FXR ligands with known chemotypes in the PDB, we accurately predicted their binding modes, while for those with unknown chemotypes the predictions were more challenging. Our group ranked #1st (based on the median RMSD) out of 46 groups, which submitted complete entries for the binding pose prediction challenge. For the relative binding affinity prediction challenge, we performed free energy perturbation (FEP) calculations coupled with molecular dynamics (MD) simulations. FEP/MD calculations displayed a high success rate in identifying compounds with better or worse binding affinity than the reference (parent) compound. Our studies suggest that when ligands with chemical precedent are available in the literature, binding pose predictions using docking and physics-based methods are reliable; however, predictions are challenging for ligands with completely unknown chemotypes. We also show that FEP/MD calculations hold predictive value and can nowadays be used in a high throughput mode in a lead optimization project provided that crystal structures of

  2. Locally linear regression for pose-invariant face recognition.

    PubMed

    Chai, Xiujuan; Shan, Shiguang; Chen, Xilin; Gao, Wen

    2007-07-01

    The variation of facial appearance due to the viewpoint (/pose) degrades face recognition systems considerably, which is one of the bottlenecks in face recognition. One of the possible solutions is generating virtual frontal view from any given nonfrontal view to obtain a virtual gallery/probe face. Following this idea, this paper proposes a simple, but efficient, novel locally linear regression (LLR) method, which generates the virtual frontal view from a given nonfrontal face image. We first justify the basic assumption of the paper that there exists an approximate linear mapping between a nonfrontal face image and its frontal counterpart. Then, by formulating the estimation of the linear mapping as a prediction problem, we present the regression-based solution, i.e., globally linear regression. To improve the prediction accuracy in the case of coarse alignment, LLR is further proposed. In LLR, we first perform dense sampling in the nonfrontal face image to obtain many overlapped local patches. Then, the linear regression technique is applied to each small patch for the prediction of its virtual frontal patch. Through the combination of all these patches, the virtual frontal view is generated. The experimental results on the CMU PIE database show distinct advantage of the proposed method over Eigen light-field method.

  3. Cloud computing approaches for prediction of ligand binding poses and pathways.

    PubMed

    Lawrenz, Morgan; Shukla, Diwakar; Pande, Vijay S

    2015-01-22

    We describe an innovative protocol for ab initio prediction of ligand crystallographic binding poses and highly effective analysis of large datasets generated for protein-ligand dynamics. We include a procedure for setup and performance of distributed molecular dynamics simulations on cloud computing architectures, a model for efficient analysis of simulation data, and a metric for evaluation of model convergence. We give accurate binding pose predictions for five ligands ranging in affinity from 7 nM to > 200 μM for the immunophilin protein FKBP12, for expedited results in cases where experimental structures are difficult to produce. Our approach goes beyond single, low energy ligand poses to give quantitative kinetic information that can inform protein engineering and ligand design.

  4. Yoga Poses Increase Subjective Energy and State Self-Esteem in Comparison to ‘Power Poses’

    PubMed Central

    Golec de Zavala, Agnieszka; Lantos, Dorottya; Bowden, Deborah

    2017-01-01

    Research on beneficial consequences of yoga focuses on the effects of yogic breathing and meditation. Less is known about the psychological effects of performing yoga postures. The present study investigated the effects of yoga poses on subjective sense of energy and self-esteem. The effects of yoga postures were compared to the effects of ‘power poses,’ which arguably increase the sense of power and self-confidence due to their association with interpersonal dominance (Carney et al., 2010). The study tested the novel prediction that yoga poses, which are not associated with interpersonal dominance but increase bodily energy, would increase the subjective feeling of energy and therefore increase self-esteem compared to ‘high power’ and ‘low power’ poses. A two factorial, between participants design was employed. Participants performed either two standing yoga poses with open front of the body (n = 19), two standing yoga poses with covered front of the body (n = 22), two expansive, high power poses (n = 21), or two constrictive, low power poses (n = 20) for 1-min each. The results showed that yoga poses in comparison to ‘power poses’ increased self-esteem. This effect was mediated by an increased subjective sense of energy and was observed when baseline trait self-esteem was controlled for. These results suggest that the effects of performing open, expansive body postures may be driven by processes other than the poses’ association with interpersonal power and dominance. This study demonstrates that positive effects of yoga practice can occur after performing yoga poses for only 2 min. PMID:28553249

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

    PubMed Central

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

    2017-01-01

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

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

    PubMed

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

    2017-02-14

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

  7. A pose estimation method for unmanned ground vehicles in GPS denied environments

    NASA Astrophysics Data System (ADS)

    Tamjidi, Amirhossein; Ye, Cang

    2012-06-01

    This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

  8. The Inverse Problem in Jet Acoustics

    NASA Technical Reports Server (NTRS)

    Wooddruff, S. L.; Hussaini, M. Y.

    2001-01-01

    The inverse problem for jet acoustics, or the determination of noise sources from far-field pressure information, is proposed as a tool for understanding the generation of noise by turbulence and for the improved prediction of jet noise. An idealized version of the problem is investigated first to establish the extent to which information about the noise sources may be determined from far-field pressure data and to determine how a well-posed inverse problem may be set up. Then a version of the industry-standard MGB code is used to predict a jet noise source spectrum from experimental noise data.

  9. Well-posed continuum equations for granular flow with compressibility and μ(I)-rheology.

    PubMed

    Barker, T; Schaeffer, D G; Shearer, M; Gray, J M N T

    2017-05-01

    Continuum modelling of granular flow has been plagued with the issue of ill-posed dynamic equations for a long time. Equations for incompressible, two-dimensional flow based on the Coulomb friction law are ill-posed regardless of the deformation, whereas the rate-dependent μ ( I )-rheology is ill-posed when the non-dimensional inertial number I is too high or too low. Here, incorporating ideas from critical-state soil mechanics, we derive conditions for well-posedness of partial differential equations that combine compressibility with I -dependent rheology. When the I -dependence comes from a specific friction coefficient μ ( I ), our results show that, with compressibility, the equations are well-posed for all deformation rates provided that μ ( I ) satisfies certain minimal, physically natural, inequalities.

  10. Well-posed continuum equations for granular flow with compressibility and μ(I)-rheology

    NASA Astrophysics Data System (ADS)

    Barker, T.; Schaeffer, D. G.; Shearer, M.; Gray, J. M. N. T.

    2017-05-01

    Continuum modelling of granular flow has been plagued with the issue of ill-posed dynamic equations for a long time. Equations for incompressible, two-dimensional flow based on the Coulomb friction law are ill-posed regardless of the deformation, whereas the rate-dependent μ(I)-rheology is ill-posed when the non-dimensional inertial number I is too high or too low. Here, incorporating ideas from critical-state soil mechanics, we derive conditions for well-posedness of partial differential equations that combine compressibility with I-dependent rheology. When the I-dependence comes from a specific friction coefficient μ(I), our results show that, with compressibility, the equations are well-posed for all deformation rates provided that μ(I) satisfies certain minimal, physically natural, inequalities.

  11. Well-posed continuum equations for granular flow with compressibility and μ(I)-rheology

    PubMed Central

    Schaeffer, D. G.; Shearer, M.; Gray, J. M. N. T.

    2017-01-01

    Continuum modelling of granular flow has been plagued with the issue of ill-posed dynamic equations for a long time. Equations for incompressible, two-dimensional flow based on the Coulomb friction law are ill-posed regardless of the deformation, whereas the rate-dependent μ(I)-rheology is ill-posed when the non-dimensional inertial number I is too high or too low. Here, incorporating ideas from critical-state soil mechanics, we derive conditions for well-posedness of partial differential equations that combine compressibility with I-dependent rheology. When the I-dependence comes from a specific friction coefficient μ(I), our results show that, with compressibility, the equations are well-posed for all deformation rates provided that μ(I) satisfies certain minimal, physically natural, inequalities. PMID:28588402

  12. Multispectral embedding-based deep neural network for three-dimensional human pose recovery

    NASA Astrophysics Data System (ADS)

    Yu, Jialin; Sun, Jifeng

    2018-01-01

    Monocular image-based three-dimensional (3-D) human pose recovery aims to retrieve 3-D poses using the corresponding two-dimensional image features. Therefore, the pose recovery performance highly depends on the image representations. We propose a multispectral embedding-based deep neural network (MSEDNN) to automatically obtain the most discriminative features from multiple deep convolutional neural networks and then embed their penultimate fully connected layers into a low-dimensional manifold. This compact manifold can explore not only the optimum output from multiple deep networks but also the complementary properties of them. Furthermore, the distribution of each hierarchy discriminative manifold is sufficiently smooth so that the training process of our MSEDNN can be effectively implemented only using few labeled data. Our proposed network contains a body joint detector and a human pose regressor that are jointly trained. Extensive experiments conducted on four databases show that our proposed MSEDNN can achieve the best recovery performance compared with the state-of-the-art methods.

  13. Robust Head-Pose Estimation Based on Partially-Latent Mixture of Linear Regressions.

    PubMed

    Drouard, Vincent; Horaud, Radu; Deleforge, Antoine; Ba, Sileye; Evangelidis, Georgios

    2017-03-01

    Head-pose estimation has many applications, such as social event analysis, human-robot and human-computer interaction, driving assistance, and so forth. Head-pose estimation is challenging, because it must cope with changing illumination conditions, variabilities in face orientation and in appearance, partial occlusions of facial landmarks, as well as bounding-box-to-face alignment errors. We propose to use a mixture of linear regressions with partially-latent output. This regression method learns to map high-dimensional feature vectors (extracted from bounding boxes of faces) onto the joint space of head-pose angles and bounding-box shifts, such that they are robustly predicted in the presence of unobservable phenomena. We describe in detail the mapping method that combines the merits of unsupervised manifold learning techniques and of mixtures of regressions. We validate our method with three publicly available data sets and we thoroughly benchmark four variants of the proposed algorithm with several state-of-the-art head-pose estimation methods.

  14. Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames

    NASA Astrophysics Data System (ADS)

    Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder A.

    2015-03-01

    This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for deep brain stimulation, where products are already on the market. The correct pose of the microstereotactic frame is either adjusted outside or inside the operating room and the frame is used for e.g. drill or electrode guidance. We present a patientspecific, disposable frame that allows intraoperative, sterile pose-setting. Key idea of our approach is bone cement between two plates that cures while the plates are positioned with a mechatronics system in the desired pose. This paper includes new designs of microstereotactic frames, a system for alignment and first measurements to analyze accuracy and applicable load.

  15. Well-posed Euler model of shock-induced two-phase flow in bubbly liquid

    NASA Astrophysics Data System (ADS)

    Tukhvatullina, R. R.; Frolov, S. M.

    2018-03-01

    A well-posed mathematical model of non-isothermal two-phase two-velocity flow of bubbly liquid is proposed. The model is based on the two-phase Euler equations with the introduction of an additional pressure at the gas bubble surface, which ensures the well-posedness of the Cauchy problem for a system of governing equations with homogeneous initial conditions, and the Rayleigh-Plesset equation for radial pulsations of gas bubbles. The applicability conditions of the model are formulated. The model is validated by comparing one-dimensional calculations of shock wave propagation in liquids with gas bubbles with a gas volume fraction of 0.005-0.3 with experimental data. The model is shown to provide satisfactory results for the shock propagation velocity, pressure profiles, and the shock-induced motion of the bubbly liquid column.

  16. Improved pose and affinity predictions using different protocols tailored on the basis of data availability

    NASA Astrophysics Data System (ADS)

    Prathipati, Philip; Nagao, Chioko; Ahmad, Shandar; Mizuguchi, Kenji

    2016-09-01

    The D3R 2015 grand drug design challenge provided a set of blinded challenges for evaluating the applicability of our protocols for pose and affinity prediction. In the present study, we report the application of two different strategies for the two D3R protein targets HSP90 and MAP4K4. HSP90 is a well-studied target system with numerous co-crystal structures and SAR data. Furthermore the D3R HSP90 test compounds showed high structural similarity to existing HSP90 inhibitors in BindingDB. Thus, we adopted an integrated docking and scoring approach involving a combination of both pharmacophoric and heavy atom similarity alignments, local minimization and quantitative structure activity relationships modeling, resulting in the reasonable prediction of pose [with the root mean square deviation (RMSD) values of 1.75 Å for mean pose 1, 1.417 Å for the mean best pose and 1.85 Å for the mean all poses] and affinity (ROC AUC = 0.702 at 7.5 pIC50 cut-off and R = 0.45 for 180 compounds). The second protein, MAP4K4, represents a novel system with limited SAR and co-crystal structure data and little structural similarity of the D3R MAP4K4 test compounds to known MAP4K4 ligands. For this system, we implemented an exhaustive pose and affinity prediction protocol involving docking and scoring using the PLANTS software which considers side chain flexibility together with protein-ligand fingerprints analysis assisting in pose prioritization. This protocol through fares poorly in pose prediction (with the RMSD values of 4.346 Å for mean pose 1, 4.69 Å for mean best pose and 4.75 Å for mean all poses) and produced reasonable affinity prediction (AUC = 0.728 at 7.5 pIC50 cut-off and R = 0.67 for 18 compounds, ranked 1st among 80 submissions).

  17. A review of cooperative and uncooperative spacecraft pose determination techniques for close-proximity operations

    NASA Astrophysics Data System (ADS)

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

    2017-08-01

    The capability of an active spacecraft to accurately estimate its relative position and attitude (pose) with respect to an active/inactive, artificial/natural space object (target) orbiting in close-proximity is required to carry out various activities like formation flying, on-orbit servicing, active debris removal, and space exploration. According to the specific mission scenario, the pose determination task involves both theoretical and technological challenges related to the search for the most suitable algorithmic solution and sensor architecture, respectively. As regards the latter aspect, electro-optical sensors represent the best option as their use is compatible with mass and power limitation of micro and small satellites, and their measurements can be processed to estimate all the pose parameters. Overall, the degree of complexity of the challenges related to pose determination largely varies depending on the nature of the targets, which may be actively/passively cooperative, uncooperative but known, or uncooperative and unknown space objects. In this respect, while cooperative pose determination has been successfully demonstrated in orbit, the uncooperative case is still under study by universities, research centers, space agencies and private companies. However, in both the cases, the demand for space applications involving relative navigation maneuvers, also in close-proximity, for which pose determination capabilities are mandatory, is significantly increasing. In this framework, a review of state-of-the-art techniques and algorithms developed in the last decades for cooperative and uncooperative pose determination by processing data provided by electro-optical sensors is herein presented. Specifically, their main advantages and drawbacks in terms of achieved performance, computational complexity, and sensitivity to variability of pose and target geometry, are highlighted.

  18. Should high-power posing be integrated in physical therapy?

    PubMed

    Ge, Weiqing; Bennett, Teale K; Oller, Jeremy C

    2017-04-01

    [Purpose] Postural assessment and correction is a common approach in patient management to decrease symptoms and improve function for patients. The purpose of this study was to determine the effects of high-power posing on muscle strength and pain threshold. [Subjects and Methods] Thirty-one subjects, 16 females and 15 males, mean age 28.9 (SD 10.8) years old, were recruited through a convenience sampling on the university campus. The research design was a randomized controlled trial. In the experimental group, the subjects were instructed to stand in a high-power posture. In the control group, the subjects were instructed to stand in a low-power posture. Grip strength and pain threshold measurements were conducted before and after the postural intervention. [Results] The grip strength changed by -3.4 (-3.7, 0.3) % and 1.7 (-3.6, 5.3) % for the experimental and control groups, respectively. The pain threshold changed by 0.6 (-9.9, 10.4) % and 15.1 (-9.3, 24.4) % for the experimental and control groups, respectively. However, both changes were not significant as all the 95% CIs included 0. [Conclusions] The data did not show significant benefits of high-power posing in increasing grip strength and pain threshold compared to low-power posing.

  19. Robustly Aligning a Shape Model and Its Application to Car Alignment of Unknown Pose.

    PubMed

    Li, Yan; Gu, Leon; Kanade, Takeo

    2011-09-01

    Precisely localizing in an image a set of feature points that form a shape of an object, such as car or face, is called alignment. Previous shape alignment methods attempted to fit a whole shape model to the observed data, based on the assumption of Gaussian observation noise and the associated regularization process. However, such an approach, though able to deal with Gaussian noise in feature detection, turns out not to be robust or precise because it is vulnerable to gross feature detection errors or outliers resulting from partial occlusions or spurious features from the background or neighboring objects. We address this problem by adopting a randomized hypothesis-and-test approach. First, a Bayesian inference algorithm is developed to generate a shape-and-pose hypothesis of the object from a partial shape or a subset of feature points. For alignment, a large number of hypotheses are generated by randomly sampling subsets of feature points, and then evaluated to find the one that minimizes the shape prediction error. This method of randomized subset-based matching can effectively handle outliers and recover the correct object shape. We apply this approach on a challenging data set of over 5,000 different-posed car images, spanning a wide variety of car types, lighting, background scenes, and partial occlusions. Experimental results demonstrate favorable improvements over previous methods on both accuracy and robustness.

  20. Human action recognition based on spatial-temporal descriptors using key poses

    NASA Astrophysics Data System (ADS)

    Hu, Shuo; Chen, Yuxin; Wang, Huaibao; Zuo, Yaqing

    2014-11-01

    Human action recognition is an important area of pattern recognition today due to its direct application and need in various occasions like surveillance and virtual reality. In this paper, a simple and effective human action recognition method is presented based on the key poses of human silhouette and the spatio-temporal feature. Firstly, the contour points of human silhouette have been gotten, and the key poses are learned by means of K-means clustering based on the Euclidean distance between each contour point and the centre point of the human silhouette, and then the type of each action is labeled for further match. Secondly, we obtain the trajectories of centre point of each frame, and create a spatio-temporal feature value represented by W to describe the motion direction and speed of each action. The value W contains the information of location and temporal order of each point on the trajectories. Finally, the matching stage is performed by comparing the key poses and W between training sequences and test sequences, the nearest neighbor sequences is found and its label supplied the final result. Experiments on the public available Weizmann datasets show the proposed method can improve accuracy by distinguishing amphibious poses and increase suitability for real-time applications by reducing the computational cost.

  1. Evolutionary Initial Poses of Reduced D.O.F’s Quadruped Robot

    NASA Astrophysics Data System (ADS)

    Iida, Ken-Ichi; Nakata, Yoshitaka; Hira, Toshio; Kamano, Takuya; Suzuki, Takayuki

    In this paper, an application of genetic algorithm for generation of evolutionary initial poses of a quadrupedal robot which reduced degrees of freedom is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the omnidirection movement should be made possible. To generate the suitable initial pose, the initial angle of four legs are coded under gray code and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs is realized to move toward the omnidirection. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated patterns.

  2. Food technology problems related to space feeding.

    PubMed

    Hollender, H A; Klicka, M V; Smith, M C

    1970-01-01

    The development of foods suitable for extraterrestrial consumption posed unique problems. Limitations on weight, volume and stability of space food together with the lack of refrigeration favored the use of dehydrated foods on Gemini and Apollo menus. Environmental constraints, cabin pressures of 1/3 atmosphere with exposure of the food assembly to the vacuum of space in conjunction with extravehicular activities and zero gravity required special packaging and adaptation of foods considered suitable for space flight use. Requirements for acceptable, familiar, crumb free, low residue, non-gas producing, stable foods added to the complexity of the developmental effort. Four basic approaches: semisolid foods in metal tubes, dehydrated bite-size foods to be eaten dry, dehydrated foods to be reconstituted before eating and flexibly packaged thermostabilized wet meat products have been utilized in the feeding systems developed for Projects Mercury, Gemini and Apollo. The development of each type posed many interesting technologic problems. Data from current Apollo flights have pointed to certain deficiencies which still remain to be corrected. Work is progressing to eliminate current problems and to provide feeding systems suitable for both short-term and long-term space flights.

  3. Finite dimensional approximation of a class of constrained nonlinear optimal control problems

    NASA Technical Reports Server (NTRS)

    Gunzburger, Max D.; Hou, L. S.

    1994-01-01

    An abstract framework for the analysis and approximation of a class of nonlinear optimal control and optimization problems is constructed. Nonlinearities occur in both the objective functional and in the constraints. The framework includes an abstract nonlinear optimization problem posed on infinite dimensional spaces, and approximate problem posed on finite dimensional spaces, together with a number of hypotheses concerning the two problems. The framework is used to show that optimal solutions exist, to show that Lagrange multipliers may be used to enforce the constraints, to derive an optimality system from which optimal states and controls may be deduced, and to derive existence results and error estimates for solutions of the approximate problem. The abstract framework and the results derived from that framework are then applied to three concrete control or optimization problems and their approximation by finite element methods. The first involves the von Karman plate equations of nonlinear elasticity, the second, the Ginzburg-Landau equations of superconductivity, and the third, the Navier-Stokes equations for incompressible, viscous flows.

  4. FDA approved drugs complexed to their targets: evaluating pose prediction accuracy of docking protocols.

    PubMed

    Bohari, Mohammed H; Sastry, G Narahari

    2012-09-01

    Efficient drug discovery programs can be designed by utilizing existing pools of knowledge from the already approved drugs. This can be achieved in one way by repositioning of drugs approved for some indications to newer indications. Complex of drug to its target gives fundamental insight into molecular recognition and a clear understanding of putative binding site. Five popular docking protocols, Glide, Gold, FlexX, Cdocker and LigandFit have been evaluated on a dataset of 199 FDA approved drug-target complexes for their accuracy in predicting the experimental pose. Performance for all the protocols is assessed at default settings, with root mean square deviation (RMSD) between the experimental ligand pose and the docked pose of less than 2.0 Å as the success criteria in predicting the pose. Glide (38.7 %) is found to be the most accurate in top ranked pose and Cdocker (58.8 %) in top RMSD pose. Ligand flexibility is a major bottleneck in failure of docking protocols to correctly predict the pose. Resolution of the crystal structure shows an inverse relationship with the performance of docking protocol. All the protocols perform optimally when a balanced type of hydrophilic and hydrophobic interaction or dominant hydrophilic interaction exists. Overall in 16 different target classes, hydrophobic interactions dominate in the binding site and maximum success is achieved for all the docking protocols in nuclear hormone receptor class while performance for the rest of the classes varied based on individual protocol.

  5. Post processing of protein-compound docking for fragment-based drug discovery (FBDD): in-silico structure-based drug screening and ligand-binding pose prediction.

    PubMed

    Fukunishi, Yoshifumi

    2010-01-01

    For fragment-based drug development, both hit (active) compound prediction and docking-pose (protein-ligand complex structure) prediction of the hit compound are important, since chemical modification (fragment linking, fragment evolution) subsequent to the hit discovery must be performed based on the protein-ligand complex structure. However, the naïve protein-compound docking calculation shows poor accuracy in terms of docking-pose prediction. Thus, post-processing of the protein-compound docking is necessary. Recently, several methods for the post-processing of protein-compound docking have been proposed. In FBDD, the compounds are smaller than those for conventional drug screening. This makes it difficult to perform the protein-compound docking calculation. A method to avoid this problem has been reported. Protein-ligand binding free energy estimation is useful to reduce the procedures involved in the chemical modification of the hit fragment. Several prediction methods have been proposed for high-accuracy estimation of protein-ligand binding free energy. This paper summarizes the various computational methods proposed for docking-pose prediction and their usefulness in FBDD.

  6. Improving 3D Character Posing with a Gestural Interface.

    PubMed

    Kyto, Mikko; Dhinakaran, Krupakar; Martikainen, Aki; Hamalainen, Perttu

    2017-01-01

    The most time-consuming part of character animation is 3D character posing. Posing using a mouse is a slow and tedious task that involves sequences of selecting on-screen control handles and manipulating the handles to adjust character parameters, such as joint rotations and end effector positions. Thus, various 3D user interfaces have been proposed to make animating easier, but they typically provide less accuracy. The proposed interface combines a mouse with the Leap Motion device to provide 3D input. A usability study showed that users preferred the Leap Motion over a mouse as a 3D gestural input device. The Leap Motion drastically decreased the number of required operations and the task completion time, especially for novice users.

  7. Estimating satellite pose and motion parameters using a novelty filter and neural net tracker

    NASA Technical Reports Server (NTRS)

    Lee, Andrew J.; Casasent, David; Vermeulen, Pieter; Barnard, Etienne

    1989-01-01

    A system for determining the position, orientation and motion of a satellite with respect to a robotic spacecraft using video data is advanced. This system utilizes two levels of pose and motion estimation: an initial system which provides coarse estimates of pose and motion, and a second system which uses the coarse estimates and further processing to provide finer pose and motion estimates. The present paper emphasizes the initial coarse pose and motion estimation sybsystem. This subsystem utilizes novelty detection and filtering for locating novel parts and a neural net tracker to track these parts over time. Results of using this system on a sequence of images of a spin stabilized satellite are presented.

  8. Prospective evaluation of shape similarity based pose prediction method in D3R Grand Challenge 2015

    NASA Astrophysics Data System (ADS)

    Kumar, Ashutosh; Zhang, Kam Y. J.

    2016-09-01

    Evaluation of ligand three-dimensional (3D) shape similarity is one of the commonly used approaches to identify ligands similar to one or more known active compounds from a library of small molecules. Apart from using ligand shape similarity as a virtual screening tool, its role in pose prediction and pose scoring has also been reported. We have recently developed a method that utilizes ligand 3D shape similarity with known crystallographic ligands to predict binding poses of query ligands. Here, we report the prospective evaluation of our pose prediction method through the participation in drug design data resource (D3R) Grand Challenge 2015. Our pose prediction method was used to predict binding poses of heat shock protein 90 (HSP90) and mitogen activated protein kinase kinase kinase kinase (MAP4K4) ligands and it was able to predict the pose within 2 Å root mean square deviation (RMSD) either as the top pose or among the best of five poses in a majority of cases. Specifically for HSP90 protein, a median RMSD of 0.73 and 0.68 Å was obtained for the top and the best of five predictions respectively. For MAP4K4 target, although the median RMSD for our top prediction was only 2.87 Å but the median RMSD of 1.67 Å for the best of five predictions was well within the limit for successful prediction. Furthermore, the performance of our pose prediction method for HSP90 and MAP4K4 ligands was always among the top five groups. Particularly, for MAP4K4 protein our pose prediction method was ranked number one both in terms of mean and median RMSD when the best of five predictions were considered. Overall, our D3R Grand Challenge 2015 results demonstrated that ligand 3D shape similarity with the crystal ligand is sufficient to predict binding poses of new ligands with acceptable accuracy.

  9. Real-Time Biologically Inspired Action Recognition from Key Poses Using a Neuromorphic Architecture.

    PubMed

    Layher, Georg; Brosch, Tobias; Neumann, Heiko

    2017-01-01

    Intelligent agents, such as robots, have to serve a multitude of autonomous functions. Examples are, e.g., collision avoidance, navigation and route planning, active sensing of its environment, or the interaction and non-verbal communication with people in the extended reach space. Here, we focus on the recognition of the action of a human agent based on a biologically inspired visual architecture of analyzing articulated movements. The proposed processing architecture builds upon coarsely segregated streams of sensory processing along different pathways which separately process form and motion information (Layher et al., 2014). Action recognition is performed in an event-based scheme by identifying representations of characteristic pose configurations (key poses) in an image sequence. In line with perceptual studies, key poses are selected unsupervised utilizing a feature-driven criterion which combines extrema in the motion energy with the horizontal and the vertical extendedness of a body shape. Per class representations of key pose frames are learned using a deep convolutional neural network consisting of 15 convolutional layers. The network is trained using the energy-efficient deep neuromorphic networks ( Eedn ) framework (Esser et al., 2016), which realizes the mapping of the trained synaptic weights onto the IBM Neurosynaptic System platform (Merolla et al., 2014). After the mapping, the trained network achieves real-time capabilities for processing input streams and classify input images at about 1,000 frames per second while the computational stages only consume about 70 mW of energy (without spike transduction). Particularly regarding mobile robotic systems, a low energy profile might be crucial in a variety of application scenarios. Cross-validation results are reported for two different datasets and compared to state-of-the-art action recognition approaches. The results demonstrate, that (I) the presented approach is on par with other key pose based

  10. Real-Time Biologically Inspired Action Recognition from Key Poses Using a Neuromorphic Architecture

    PubMed Central

    Layher, Georg; Brosch, Tobias; Neumann, Heiko

    2017-01-01

    Intelligent agents, such as robots, have to serve a multitude of autonomous functions. Examples are, e.g., collision avoidance, navigation and route planning, active sensing of its environment, or the interaction and non-verbal communication with people in the extended reach space. Here, we focus on the recognition of the action of a human agent based on a biologically inspired visual architecture of analyzing articulated movements. The proposed processing architecture builds upon coarsely segregated streams of sensory processing along different pathways which separately process form and motion information (Layher et al., 2014). Action recognition is performed in an event-based scheme by identifying representations of characteristic pose configurations (key poses) in an image sequence. In line with perceptual studies, key poses are selected unsupervised utilizing a feature-driven criterion which combines extrema in the motion energy with the horizontal and the vertical extendedness of a body shape. Per class representations of key pose frames are learned using a deep convolutional neural network consisting of 15 convolutional layers. The network is trained using the energy-efficient deep neuromorphic networks (Eedn) framework (Esser et al., 2016), which realizes the mapping of the trained synaptic weights onto the IBM Neurosynaptic System platform (Merolla et al., 2014). After the mapping, the trained network achieves real-time capabilities for processing input streams and classify input images at about 1,000 frames per second while the computational stages only consume about 70 mW of energy (without spike transduction). Particularly regarding mobile robotic systems, a low energy profile might be crucial in a variety of application scenarios. Cross-validation results are reported for two different datasets and compared to state-of-the-art action recognition approaches. The results demonstrate, that (I) the presented approach is on par with other key pose based

  11. Students Advise Fortune 500 Company: Designing a Problem-Based Learning Community

    ERIC Educational Resources Information Center

    Brzovic, Kathy; Matz, S. Irene

    2009-01-01

    This article describes the process of planning and implementing a problem-based learning community. Business and communication students from a large university in the Western United States competed in teams to solve an authentic business problem posed by a Fortune 500 company. The company's willingness to adopt some of their recommendations…

  12. How is this child feeling? Preschool-aged children’s ability to recognize emotion in faces and body poses

    PubMed Central

    Parker, Alison E.; Mathis, Erin T.; Kupersmidt, Janis B.

    2016-01-01

    The study examined children’s recognition of emotion from faces and body poses, as well as gender differences in these recognition abilities. Preschool-aged children (N = 55) and their parents and teachers participated in the study. Preschool-aged children completed a web-based measure of emotion recognition skills, which included five tasks (three with faces and two with bodies). Parents and teachers reported on children’s aggressive behaviors and social skills. Children’s emotion accuracy on two of the three facial tasks and one of the body tasks was related to teacher reports of social skills. Some of these relations were moderated by child gender. In particular, the relationships between emotion recognition accuracy and reports of children’s behavior were stronger for boys than girls. Identifying preschool-aged children’s strengths and weaknesses in identification of emotion from faces and body poses may be helpful in guiding interventions with children who have problems with social and behavioral functioning that may be due, in part, to emotional knowledge deficits. Further developmental implications of these findings are discussed. PMID:27057129

  13. Three-dimensional face pose detection and tracking using monocular videos: tool and application.

    PubMed

    Dornaika, Fadi; Raducanu, Bogdan

    2009-08-01

    Recently, we have proposed a real-time tracker that simultaneously tracks the 3-D head pose and facial actions in monocular video sequences that can be provided by low quality cameras. This paper has two main contributions. First, we propose an automatic 3-D face pose initialization scheme for the real-time tracker by adopting a 2-D face detector and an eigenface system. Second, we use the proposed methods-the initialization and tracking-for enhancing the human-machine interaction functionality of an AIBO robot. More precisely, we show how the orientation of the robot's camera (or any active vision system) can be controlled through the estimation of the user's head pose. Applications based on head-pose imitation such as telepresence, virtual reality, and video games can directly exploit the proposed techniques. Experiments on real videos confirm the robustness and usefulness of the proposed methods.

  14. Minimal Solutions to the Box Problem

    ERIC Educational Resources Information Center

    Chuang, Jer-Chin

    2009-01-01

    The "box problem" from introductory calculus seeks to maximize the volume of a tray formed by folding a strictly rectangular sheet from which identical squares have been cut from each corner. In posing such questions, one would like to choose integral side-lengths for the sheet so that the excised squares have rational or integral side-length.…

  15. Should high-power posing be integrated in physical therapy?

    PubMed Central

    Ge, Weiqing; Bennett, Teale K.; Oller, Jeremy C.

    2017-01-01

    [Purpose] Postural assessment and correction is a common approach in patient management to decrease symptoms and improve function for patients. The purpose of this study was to determine the effects of high-power posing on muscle strength and pain threshold. [Subjects and Methods] Thirty-one subjects, 16 females and 15 males, mean age 28.9 (SD 10.8) years old, were recruited through a convenience sampling on the university campus. The research design was a randomized controlled trial. In the experimental group, the subjects were instructed to stand in a high-power posture. In the control group, the subjects were instructed to stand in a low-power posture. Grip strength and pain threshold measurements were conducted before and after the postural intervention. [Results] The grip strength changed by −3.4 (−3.7, 0.3) % and 1.7 (−3.6, 5.3) % for the experimental and control groups, respectively. The pain threshold changed by 0.6 (−9.9, 10.4) % and 15.1 (−9.3, 24.4) % for the experimental and control groups, respectively. However, both changes were not significant as all the 95% CIs included 0. [Conclusions] The data did not show significant benefits of high-power posing in increasing grip strength and pain threshold compared to low-power posing. PMID:28533612

  16. Problem Posing and Problem Solving in a Math Teacher's Circle

    ERIC Educational Resources Information Center

    Appleton, Eric; Farina, Solange; Holzer, Tyler; Kotelawala, Usha; Trushkowsky, Mark

    2017-01-01

    This article describes the New York City Community of Adult Math Instructors (CAMI), a math teachers' circle founded in November 2014. The authors share details about their own participation in CAMI to show the professional growth that research-based, peer-led professional development can offer for adult educators.

  17. Nonlinear features for classification and pose estimation of machined parts from single views

    NASA Astrophysics Data System (ADS)

    Talukder, Ashit; Casasent, David P.

    1998-10-01

    A new nonlinear feature extraction method is presented for classification and pose estimation of objects from single views. The feature extraction method is called the maximum representation and discrimination feature (MRDF) method. The nonlinear MRDF transformations to use are obtained in closed form, and offer significant advantages compared to nonlinear neural network implementations. The features extracted are useful for both object discrimination (classification) and object representation (pose estimation). We consider MRDFs on image data, provide a new 2-stage nonlinear MRDF solution, and show it specializes to well-known linear and nonlinear image processing transforms under certain conditions. We show the use of MRDF in estimating the class and pose of images of rendered solid CAD models of machine parts from single views using a feature-space trajectory neural network classifier. We show new results with better classification and pose estimation accuracy than are achieved by standard principal component analysis and Fukunaga-Koontz feature extraction methods.

  18. An eye model for uncalibrated eye gaze estimation under variable head pose

    NASA Astrophysics Data System (ADS)

    Hnatow, Justin; Savakis, Andreas

    2007-04-01

    Gaze estimation is an important component of computer vision systems that monitor human activity for surveillance, human-computer interaction, and various other applications including iris recognition. Gaze estimation methods are particularly valuable when they are non-intrusive, do not require calibration, and generalize well across users. This paper presents a novel eye model that is employed for efficiently performing uncalibrated eye gaze estimation. The proposed eye model was constructed from a geometric simplification of the eye and anthropometric data about eye feature sizes in order to circumvent the requirement of calibration procedures for each individual user. The positions of the two eye corners and the midpupil, the distance between the two eye corners, and the radius of the eye sphere are required for gaze angle calculation. The locations of the eye corners and midpupil are estimated via processing following eye detection, and the remaining parameters are obtained from anthropometric data. This eye model is easily extended to estimating eye gaze under variable head pose. The eye model was tested on still images of subjects at frontal pose (0 °) and side pose (34 °). An upper bound of the model's performance was obtained by manually selecting the eye feature locations. The resulting average absolute error was 2.98 ° for frontal pose and 2.87 ° for side pose. The error was consistent across subjects, which indicates that good generalization was obtained. This level of performance compares well with other gaze estimation systems that utilize a calibration procedure to measure eye features.

  19. Expedition Two crewmembers pose in Destiny Laboratory module

    NASA Image and Video Library

    2001-03-31

    ISS002-E-5488 (31 March 2001) --- The Expedition Two crewmembers -- astronaut Susan J. Helms (left), cosmonaut Yury V. Usachev and astronaut James S. Voss -- pose for a photograph in the U.S. Laboratory / Destiny module of the International Space Station (ISS). This image was recorded with a digital still camera.

  20. Dual Quaternions as Constraints in 4D-DPM Models for Pose Estimation.

    PubMed

    Martinez-Berti, Enrique; Sánchez-Salmerón, Antonio-José; Ricolfe-Viala, Carlos

    2017-08-19

    The goal of this research work is to improve the accuracy of human pose estimation using the Deformation Part Model (DPM) without increasing computational complexity. First, the proposed method seeks to improve pose estimation accuracy by adding the depth channel to DPM, which was formerly defined based only on red-green-blue (RGB) channels, in order to obtain a four-dimensional DPM (4D-DPM). In addition, computational complexity can be controlled by reducing the number of joints by taking it into account in a reduced 4D-DPM. Finally, complete solutions are obtained by solving the omitted joints by using inverse kinematics models. In this context, the main goal of this paper is to analyze the effect on pose estimation timing cost when using dual quaternions to solve the inverse kinematics.

  1. Group Work Tests for Context-Rich Problems

    ERIC Educational Resources Information Center

    Meyer, Chris

    2016-01-01

    The group work test is an assessment strategy that promotes higher-order thinking skills for solving context-rich problems. With this format, teachers are able to pose challenging, nuanced questions on a test, while providing the support weaker students need to get started and show their understanding. The test begins with a group discussion…

  2. The rarity of "unusual" [corrected] dispositions of victim bodies: staging and posing.

    PubMed

    Keppel, Robert D; Weis, Joseph G

    2004-11-01

    The act of leaving a victim's body in an unusual position is a conscious criminal action by an offender to thwart an investigation, shock the finder and investigators of the crime scene, or give perverted pleasure to the killer. The unusual position concepts of posing and staging a murder victim have been documented thoroughly and have been accepted by the courts as a definable phenomenon. One staging case and one posing case are outlined and reveal characteristics of those homicides. From the Washington State Attorney General's Homicide Investigation and Tracking System's database on murder covering the years 1981-2000 (a total of 5,224 cases), the relative frequency of unusual body dispositions is revealed as a very rare occurrence. Only 1.3% of victims are left in an unusual position, with 0.3% being posed and 0.1% being staged. The characteristics of these types of murders also set them apart: compared to all other murders, in staged murders the victims and killers are, on average, older. All victims and offenders in the staged murders are white, with victims being disproportionately white in murders with any kind of unusual body disposition. Likewise, females stand out as victims when the body is posed, staged, or left in other unusual positions. Whereas posed bodies are more likely to include sexual assault, often in serial murders, there is no evidence of either in the staged cases. Lastly, when a body is left in an unusual position, binding is more likely, as well as the use of more "hands on" means of killing the victim, such as stabbing or cutting weapons, bludgeons, ligatures, or hands and feet.

  3. On the formulation and solution of an emergency routing problem.

    DOT National Transportation Integrated Search

    2007-10-01

    In this work, we will identify important variables that contribute to : vehicular movement in an emergency environment. In particular, we for- : mulate and pose the Convoy Routing Problem (using far fewer variables : than other important models witho...

  4. The investigation and implementation of real-time face pose and direction estimation on mobile computing devices

    NASA Astrophysics Data System (ADS)

    Fu, Deqian; Gao, Lisheng; Jhang, Seong Tae

    2012-04-01

    The mobile computing device has many limitations, such as relative small user interface and slow computing speed. Usually, augmented reality requires face pose estimation can be used as a HCI and entertainment tool. As far as the realtime implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to face different constraints while leaving enough face pose estimation accuracy. The proposed face pose estimation method met this objective. Experimental results running on a testing Android mobile device delivered satisfactory performing results in the real-time and accurately.

  5. Family Medicine Residents' Performance with Detected Versus Undetected Simulated Patients Posing as Problem Drinkers.

    PubMed

    Kahan, Meldon; Liu, Eleanor; Borsoi, Diane; Wilson, Lynn; Brewster, Joan M; Sobell, Mark B; Sobell, Linda C

    2004-12-01

    Simulated patients are commonly used to evaluate medical trainees. Unannounced simulated patients provide an accurate measure of physician performance. To determine the effects of detection of SPs on physician performance, and identify factors leading to detection. Fixty-six family medicine residents were each visited by two unannounced simulated patients presenting with alcohol-induced hypertension or insomnia. Residents were then surveyed on their detection of SPs. SPs were detected on 45 out of 104 visits. Inner city clinics had higher detection rates than middle class clinics. Residents' checklist and global rating scores were substantially higher on detected than undetected visits, for both between-subject and within-subject comparisons. The most common reasons for detection concerned SP demographics and behaviour; the SP "did not act like a drinker" and was of a different social class than the typical clinic patient. Multi-clinic studies involving residents experienced with SPs should ensure that the SP role and behavior conform to physician expectations and the demographics of the clinic. SP station testing does not accurately reflect physicians' actual clinical behavior and should not be relied on as the primary method of evaluation. The study also suggests that physicians' poor performance in identifying and managing alcohol problems is not entirely due to lack of skill, as they demonstrated greater clinical skills when they became aware that they were being evaluated. Physicians' clinical priorities, sense of responsibility and other attitudinal determinants of their behavior should be addressed when training physicians on the management of alcohol problems.

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

    PubMed

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

    2015-03-16

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

  7. Contact Zones, Problem Posing and Critical Consciousness

    ERIC Educational Resources Information Center

    Patel, Lisa

    2012-01-01

    In this article, I share the shape and findings of a participatory action research project with newcomer youths on the contours of status in society. This project was nested in a professional internship experience for newcomer youth, and this experience provided the context in which we explored how privilege and status are afforded in American…

  8. An ergonomic handheld ultrasound probe providing contact forces and pose information.

    PubMed

    Yohan Noh; Housden, R James; Gomez, Alberto; Knight, Caroline; Garcia, Francesca; Hongbin Liu; Razavi, Reza; Rhode, Kawal; Althoefer, Kaspar

    2015-08-01

    This paper presents a handheld ultrasound probe which is integrated with sensors to measure force and pose (position/orientation) information. Using an integrated probe like this, one can relate ultrasound images to spatial location and create 3D ultrasound maps. The handheld device can be used by sonographers and also easily be integrated with robot arms for automated sonography. The handheld device is ergonomically designed; rapid attachment and removal of the ultrasound transducer itself is possible using easy-to-operate clip mechanisms. A cable locking mechanism reduces the impact that gravitational and other external forces have (originating from data and power supply cables connected to the probe) on our measurements. Gravitational errors introduced by the housing of the probe are compensated for using knowledge of the housing geometry and the integrated pose sensor that provides us with accurate orientation information. In this paper, we describe the handheld probe with its integrated force/pose sensors and our approach to gravity compensation. We carried out a set of experiments to verify the feasibility of our approach to obtain accurate spatial information of the handheld probe.

  9. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

    PubMed

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-09-14

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

  10. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

    PubMed Central

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-01-01

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments. PMID:27649178

  11. 21 CFR 740.18 - Coal tar hair dyes posing a risk of cancer.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 7 2010-04-01 2010-04-01 false Coal tar hair dyes posing a risk of cancer. 740.18... posing a risk of cancer. (a) The principal display panel of the label and any labeling accompanying a... your skin and has been determined to cause cancer in laboratory animals. (b) Hair dyes containing any...

  12. 21 CFR 740.18 - Coal tar hair dyes posing a risk of cancer.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 7 2011-04-01 2010-04-01 true Coal tar hair dyes posing a risk of cancer. 740.18... posing a risk of cancer. (a) The principal display panel of the label and any labeling accompanying a... your skin and has been determined to cause cancer in laboratory animals. (b) Hair dyes containing any...

  13. 21 CFR 740.18 - Coal tar hair dyes posing a risk of cancer.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 21 Food and Drugs 7 2014-04-01 2014-04-01 false Coal tar hair dyes posing a risk of cancer. 740.18... posing a risk of cancer. (a) The principal display panel of the label and any labeling accompanying a... your skin and has been determined to cause cancer in laboratory animals. (b) Hair dyes containing any...

  14. 21 CFR 740.18 - Coal tar hair dyes posing a risk of cancer.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 21 Food and Drugs 7 2013-04-01 2013-04-01 false Coal tar hair dyes posing a risk of cancer. 740.18... posing a risk of cancer. (a) The principal display panel of the label and any labeling accompanying a... your skin and has been determined to cause cancer in laboratory animals. (b) Hair dyes containing any...

  15. Winners, losers, and posers: The effect of power poses on testosterone and risk-taking following competition.

    PubMed

    Smith, Kristopher M; Apicella, Coren L

    2017-06-01

    A contribution to a special issue on Hormones and Human Competition. The effect of postural power displays (i.e. power poses) on hormone levels and decision-making has recently been challenged. While Carney et al. (2010) found that holding brief postural displays of power leads to increased testosterone, decreased cortisol and greater economic risk taking, this failed to replicate in a recent high-powered study (Ranehill et al. 2015). It has been put forward that subtle differences in social context may account for the differences in results. Power displays naturally occur within the context of competitions, as do changes in hormones, and researchers have yet to examine the effects of poses within this ecologically relevant context. Using a large sample of 247 male participants, natural winners and losers of a physical competition were randomly assigned to hold a low, neutral or high-power postural display. We found no main effect of pose type on testosterone, cortisol, risk or feelings of power. Winners assigned to a high-power pose had a relative, albeit small, rise in testosterone compared to winners who held neutral or low-power poses. For losers, we found little evidence that high-power poses lead to increased testosterone relative to those holding neutral or low-powered poses. If anything, the reverse was observed - losers had a reduction in testosterone after holding high-power poses. To the extent that changes in testosterone modulate social behaviors adaptively, it is possible that the relative reduction in testosterone observed in losers taking high-powered poses is designed to inhibit further "winner-like" behavior that could result in continued defeat and harm. Still, effects were small, multiple comparisons were made, and the results ran counter to our predictions. We thus treat these conclusions as preliminary. Copyright © 2016 Elsevier Inc. All rights reserved.

  16. IMU-based Real-time Pose Measurement system for Anterior Pelvic Plane in Total Hip Replacement Surgeries.

    PubMed

    Zhe Cao; Shaojie Su; Hao Tang; Yixin Zhou; Zhihua Wang; Hong Chen

    2017-07-01

    With the aging of population, the number of Total Hip Replacement Surgeries (THR) increased year by year. In THR, inaccurate position of the implanted prosthesis may lead to the failure of the operation. In order to reduce the failure rate and acquire the real-time pose of Anterior Pelvic Plane (APP), we propose a measurement system in this paper. The measurement system includes two parts: Initial Pose Measurement Instrument (IPMI) and Real-time Pose Measurement Instrument (RPMI). IPMI is used to acquire the initial pose of the APP, and RPMI is used to estimate the real-time pose of the APP. Both are composed of an Inertial Measurement Unit (IMU) and magnetometer sensors. To estimate the attitude of the measurement system, the Extended Kalman Filter (EKF) is adopted in this paper. The real-time pose of the APP could be acquired together with the algorithm designed in the paper. The experiment results show that the Root Mean Square Error (RMSE) is within 1.6 degrees, which meets the requirement of THR operations.

  17. Eco-analytical Methodology in Environmental Problems Monitoring

    NASA Astrophysics Data System (ADS)

    Agienko, M. I.; Bondareva, E. P.; Chistyakova, G. V.; Zhironkina, O. V.; Kalinina, O. I.

    2017-01-01

    Among the problems common to all mankind, which solutions influence the prospects of civilization, the problem of ecological situation monitoring takes very important place. Solution of this problem requires specific methodology based on eco-analytical comprehension of global issues. Eco-analytical methodology should help searching for the optimum balance between environmental problems and accelerating scientific and technical progress. The fact that Governments, corporations, scientists and nations focus on the production and consumption of material goods cause great damage to environment. As a result, the activity of environmentalists is developing quite spontaneously, as a complement to productive activities. Therefore, the challenge posed by the environmental problems for the science is the formation of geo-analytical reasoning and the monitoring of global problems common for the whole humanity. So it is expected to find the optimal trajectory of industrial development to prevent irreversible problems in the biosphere that could stop progress of civilization.

  18. Justice: A Problem for Military Ethics during Irregular War

    DTIC Science & Technology

    2008-05-22

    monograph directly addresses the problem posed when considering the question ‘Who says what right is?’ or ‘Justice according to whom?’ The relative...nature of the term ‘justice’ creates a problem for military ethics, particularly when soldiers try to determine what actions are morally acceptable... What can stop this slide into strict formalism, where law eclipses ethics? The research conducted for this monograph has led the author to believe

  19. Robust feature tracking for endoscopic pose estimation and structure recovery

    NASA Astrophysics Data System (ADS)

    Speidel, S.; Krappe, S.; Röhl, S.; Bodenstedt, S.; Müller-Stich, B.; Dillmann, R.

    2013-03-01

    Minimally invasive surgery is a highly complex medical discipline with several difficulties for the surgeon. To alleviate these difficulties, augmented reality can be used for intraoperative assistance. For visualization, the endoscope pose must be known which can be acquired with a SLAM (Simultaneous Localization and Mapping) approach using the endoscopic images. In this paper we focus on feature tracking for SLAM in minimally invasive surgery. Robust feature tracking and minimization of false correspondences is crucial for localizing the endoscope. As sensory input we use a stereo endoscope and evaluate different feature types in a developed SLAM framework. The accuracy of the endoscope pose estimation is validated with synthetic and ex vivo data. Furthermore we test the approach with in vivo image sequences from da Vinci interventions.

  20. Hadfield poses with MSL FLSS in the Node 2

    NASA Image and Video Library

    2012-12-23

    View of Canada Space Agency (CSA) Chris Hadfield, Expedition 34 Flight Engineer (FE), poses with a Materials Science Laboratory (MSL) Furnace Launch Support Structure (FLSS) in the U.S. Laboratory. Tom Marshburn (background), Expedition 34 FE uses laptop computer. Photo was taken during Expedition 34.

  1. Structural Interface Parameters Are Discriminatory in Recognising Near-Native Poses of Protein-Protein Interactions

    PubMed Central

    Malhotra, Sony; Sankar, Kannan; Sowdhamini, Ramanathan

    2014-01-01

    Interactions at the molecular level in the cellular environment play a very crucial role in maintaining the physiological functioning of the cell. These molecular interactions exist at varied levels viz. protein-protein interactions, protein-nucleic acid interactions or protein-small molecules interactions. Presently in the field, these interactions and their mechanisms mark intensively studied areas. Molecular interactions can also be studied computationally using the approach named as Molecular Docking. Molecular docking employs search algorithms to predict the possible conformations for interacting partners and then calculates interaction energies. However, docking proposes number of solutions as different docked poses and hence offers a serious challenge to identify the native (or near native) structures from the pool of these docked poses. Here, we propose a rigorous scoring scheme called DockScore which can be used to rank the docked poses and identify the best docked pose out of many as proposed by docking algorithm employed. The scoring identifies the optimal interactions between the two protein partners utilising various features of the putative interface like area, short contacts, conservation, spatial clustering and the presence of positively charged and hydrophobic residues. DockScore was first trained on a set of 30 protein-protein complexes to determine the weights for different parameters. Subsequently, we tested the scoring scheme on 30 different protein-protein complexes and native or near-native structure were assigned the top rank from a pool of docked poses in 26 of the tested cases. We tested the ability of DockScore to discriminate likely dimer interactions that differ substantially within a homologous family and also demonstrate that DOCKSCORE can distinguish correct pose for all 10 recent CAPRI targets. PMID:24498255

  2. Structural interface parameters are discriminatory in recognising near-native poses of protein-protein interactions.

    PubMed

    Malhotra, Sony; Sankar, Kannan; Sowdhamini, Ramanathan

    2014-01-01

    Interactions at the molecular level in the cellular environment play a very crucial role in maintaining the physiological functioning of the cell. These molecular interactions exist at varied levels viz. protein-protein interactions, protein-nucleic acid interactions or protein-small molecules interactions. Presently in the field, these interactions and their mechanisms mark intensively studied areas. Molecular interactions can also be studied computationally using the approach named as Molecular Docking. Molecular docking employs search algorithms to predict the possible conformations for interacting partners and then calculates interaction energies. However, docking proposes number of solutions as different docked poses and hence offers a serious challenge to identify the native (or near native) structures from the pool of these docked poses. Here, we propose a rigorous scoring scheme called DockScore which can be used to rank the docked poses and identify the best docked pose out of many as proposed by docking algorithm employed. The scoring identifies the optimal interactions between the two protein partners utilising various features of the putative interface like area, short contacts, conservation, spatial clustering and the presence of positively charged and hydrophobic residues. DockScore was first trained on a set of 30 protein-protein complexes to determine the weights for different parameters. Subsequently, we tested the scoring scheme on 30 different protein-protein complexes and native or near-native structure were assigned the top rank from a pool of docked poses in 26 of the tested cases. We tested the ability of DockScore to discriminate likely dimer interactions that differ substantially within a homologous family and also demonstrate that DOCKSCORE can distinguish correct pose for all 10 recent CAPRI targets.

  3. A well-posed numerical method to track isolated conformal map singularities in Hele-Shaw flow

    NASA Technical Reports Server (NTRS)

    Baker, Gregory; Siegel, Michael; Tanveer, Saleh

    1995-01-01

    We present a new numerical method for calculating an evolving 2D Hele-Shaw interface when surface tension effects are neglected. In the case where the flow is directed from the less viscous fluid into the more viscous fluid, the motion of the interface is ill-posed; small deviations in the initial condition will produce significant changes in the ensuing motion. This situation is disastrous for numerical computation, as small round-off errors can quickly lead to large inaccuracies in the computed solution. Our method of computation is most easily formulated using a conformal map from the fluid domain into a unit disk. The method relies on analytically continuing the initial data and equations of motion into the region exterior to the disk, where the evolution problem becomes well-posed. The equations are then numerically solved in the extended domain. The presence of singularities in the conformal map outside of the disk introduces specific structures along the fluid interface. Our method can explicitly track the location of isolated pole and branch point singularities, allowing us to draw connections between the development of interfacial patterns and the motion of singularities as they approach the unit disk. In particular, we are able to relate physical features such as finger shape, side-branch formation, and competition between fingers to the nature and location of the singularities. The usefulness of this method in studying the formation of topological singularities (self-intersections of the interface) is also pointed out.

  4. Personal privacy, information assurance, and the threat posed by malware techology

    NASA Astrophysics Data System (ADS)

    Stytz, Martin R.; Banks, Sheila B.

    2006-04-01

    In spite of our best efforts to secure the cyber world, the threats posed to personal privacy by attacks upon networks and software continue unabated. While there are many reasons for this state of affairs, clearly one of the reasons for continued vulnerabilities in software is the inability to assess their security properties and test their security systems while they are in development. A second reason for this growing threat to personal privacy is the growing sophistication and maliciousness of malware coupled with the increasing difficulty of detecting malware. The pervasive threat posed by malware coupled with the difficulties faced when trying to detect its presence or an attempted intrusion make addressing the malware threat one of the most pressing issues that must be solved in order to insure personal privacy to users of the internet. In this paper, we will discuss the threat posed by malware, the types of malware found in the wild (outside of computer laboratories), and current techniques that are available for from a successful malware penetration. The paper includes a discussion of anti-malware tools and suggestions for future anti-malware efforts.

  5. Hand pose estimation in depth image using CNN and random forest

    NASA Astrophysics Data System (ADS)

    Chen, Xi; Cao, Zhiguo; Xiao, Yang; Fang, Zhiwen

    2018-03-01

    Thanks to the availability of low cost depth cameras, like Microsoft Kinect, 3D hand pose estimation attracted special research attention in these years. Due to the large variations in hand`s viewpoint and the high dimension of hand motion, 3D hand pose estimation is still challenging. In this paper we propose a two-stage framework which joint with CNN and Random Forest to boost the performance of hand pose estimation. First, we use a standard Convolutional Neural Network (CNN) to regress the hand joints` locations. Second, using a Random Forest to refine the joints from the first stage. In the second stage, we propose a pyramid feature which merges the information flow of the CNN. Specifically, we get the rough joints` location from first stage, then rotate the convolutional feature maps (and image). After this, for each joint, we map its location to each feature map (and image) firstly, then crop features at each feature map (and image) around its location, put extracted features to Random Forest to refine at last. Experimentally, we evaluate our proposed method on ICVL dataset and get the mean error about 11mm, our method is also real-time on a desktop.

  6. Automatic C-arm pose estimation via 2D/3D hybrid registration of a radiographic fiducial

    NASA Astrophysics Data System (ADS)

    Moult, E.; Burdette, E. C.; Song, D. Y.; Abolmaesumi, P.; Fichtinger, G.; Fallavollita, P.

    2011-03-01

    Motivation: In prostate brachytherapy, real-time dosimetry would be ideal to allow for rapid evaluation of the implant quality intra-operatively. However, such a mechanism requires an imaging system that is both real-time and which provides, via multiple C-arm fluoroscopy images, clear information describing the three-dimensional position of the seeds deposited within the prostate. Thus, accurate tracking of the C-arm poses proves to be of critical importance to the process. Methodology: We compute the pose of the C-arm relative to a stationary radiographic fiducial of known geometry by employing a hybrid registration framework. Firstly, by means of an ellipse segmentation algorithm and a 2D/3D feature based registration, we exploit known FTRAC geometry to recover an initial estimate of the C-arm pose. Using this estimate, we then initialize the intensity-based registration which serves to recover a refined and accurate estimation of the C-arm pose. Results: Ground-truth pose was established for each C-arm image through a published and clinically tested segmentation-based method. Using 169 clinical C-arm images and a +/-10° and +/-10 mm random perturbation of the ground-truth pose, the average rotation and translation errors were 0.68° (std = 0.06°) and 0.64 mm (std = 0.24 mm). Conclusion: Fully automated C-arm pose estimation using a 2D/3D hybrid registration scheme was found to be clinically robust based on human patient data.

  7. An ill-posed parabolic evolution system for dispersive deoxygenation-reaeration in water

    NASA Astrophysics Data System (ADS)

    Azaïez, M.; Ben Belgacem, F.; Hecht, F.; Le Bot, C.

    2014-01-01

    We consider an inverse problem that arises in the management of water resources and pertains to the analysis of surface water pollution by organic matter. Most physically relevant models used by engineers derive from various additions and corrections to enhance the earlier deoxygenation-reaeration model proposed by Streeter and Phelps in 1925, the unknowns being the biochemical oxygen demand (BOD) and the dissolved oxygen (DO) concentrations. The one we deal with includes Taylor’s dispersion to account for the heterogeneity of the contamination in all space directions. The system we obtain is then composed of two reaction-dispersion equations. The particularity is that both Neumann and Dirichlet boundary conditions are available on the DO tracer while the BOD density is free of any conditions. In fact, for real-life concerns, measurements on the DO are easy to obtain and to save. On the contrary, collecting data on the BOD is a sensitive task and turns out to be a lengthy process. The global model pursues the reconstruction of the BOD density, and especially of its flux along the boundary. Not only is this problem plainly worth studying for its own interest but it could also be a mandatory step in other applications such as the identification of the location of pollution sources. The non-standard boundary conditions generate two difficulties in mathematical and computational grounds. They set up a severe coupling between both equations and they are the cause of the ill-posed data reconstruction problem. Existence and stability fail. Identifiability is therefore the only positive result one can search for; it is the central purpose of the paper. Finally, we have performed some computational experiments to assess the capability of the mixed finite element in missing data recovery.

  8. An Application of Calculus: Optimum Parabolic Path Problem

    ERIC Educational Resources Information Center

    Atasever, Merve; Pakdemirli, Mehmet; Yurtsever, Hasan Ali

    2009-01-01

    A practical and technological application of calculus problem is posed to motivate freshman students or junior high school students. A variable coefficient of friction is used in modelling air friction. The case in which the coefficient of friction is a decreasing function of altitude is considered. The optimum parabolic path for a flying object…

  9. Language and Communication-Related Problems of Aviation Safety.

    ERIC Educational Resources Information Center

    Cushing, Steven

    A study of the problems posed by the use of natural language in various aspects of aviation is presented. The study, part of a larger investigation of the feasibility of voice input/output interfaces for communication in aviation, looks at representative real examples of accidents and near misses resulting from language confusions and omissions.…

  10. Bone Pose Estimation in the Presence of Soft Tissue Artifact Using Triangular Cosserat Point Elements.

    PubMed

    Solav, Dana; Rubin, M B; Cereatti, Andrea; Camomilla, Valentina; Wolf, Alon

    2016-04-01

    Accurate estimation of the position and orientation (pose) of a bone from a cluster of skin markers is limited mostly by the relative motion between the bone and the markers, which is known as the soft tissue artifact (STA). This work presents a method, based on continuum mechanics, to describe the kinematics of a cluster affected by STA. The cluster is characterized by triangular cosserat point elements (TCPEs) defined by all combinations of three markers. The effects of the STA on the TCPEs are quantified using three parameters describing the strain in each TCPE and the relative rotation and translation between TCPEs. The method was evaluated using previously collected ex vivo kinematic data. Femur pose was estimated from 12 skin markers on the thigh, while its reference pose was measured using bone pins. Analysis revealed that instantaneous subsets of TCPEs exist which estimate bone position and orientation more accurately than the Procrustes Superimposition applied to the cluster of all markers. It has been shown that some of these parameters correlate well with femur pose errors, which suggests that they can be used to select, at each instant, subsets of TCPEs leading an improved estimation of the underlying bone pose.

  11. A Survey of Road Construction and Maintenance Problems in Central Alaska.

    DTIC Science & Technology

    1976-10-01

    recent natural disasters, such as the earthquake of 1964 and the Fairbanks flood in 1967, seriously set back the Alaskan highway program for several...problems as classifica- tion of natural road building materials, prevention of culvert icing, measurement of subgrade temperature, maintenance of slopes...Scarcity of clays or other material suitable for use as a binder in gravel surfacings poses additional problems throughout Alaska. Dust and stones

  12. Hadfield poses with MSL FLSS in the Node 2

    NASA Image and Video Library

    2012-12-23

    ISS034-E-010603 (28 Dec. 2012) --- Canadian Space Agency astronaut Chris Hadfield, Expedition 34 flight engineer, poses with a Materials Science Laboratory (MSL) Furnace Launch Support Structure (FLSS) in the Destiny laboratory of the International Space Station. NASA astronaut Tom Marshburn, flight engineer, uses a computer in the background.

  13. Conduct Problems in Young, School-Going Children in Ireland: Prevalence and Teacher Response

    ERIC Educational Resources Information Center

    Hyland, Lynda; Ní Mháille, Grainne; Lodge, Anne; McGilloway, Sinead

    2014-01-01

    Conduct problems in school settings can pose significant challenges for both children and teachers. This study examined the teacher-reported prevalence of conduct problems in a sample of young children (N?=?445) in the first two years of formal education. A secondary aim was to assess teachers' perceptions of child behaviour and their classroom…

  14. Mixed boundary-value problem for an orthotropic rectangular strip with variable coefficients of elasticity

    NASA Astrophysics Data System (ADS)

    Sargsyan, M. Z.; Poghosyan, H. M.

    2018-04-01

    A dynamical problem for a rectangular strip with variable coefficients of elasticity is solved by an asymptotic method. It is assumed that the strip is orthotropic, the elasticity coefficients are exponential functions of y, and mixed boundary conditions are posed. The solution of the inner problem is obtained using Bessel functions.

  15. MILEPOST Multicenter Randomized Controlled Trial: 12-Month Weight Loss and Satiety Outcomes After pose SM vs. Medical Therapy.

    PubMed

    Miller, Karl; Turró, R; Greve, J W; Bakker, C M; Buchwald, J N; Espinós, J C

    2017-02-01

    Pose SM is an endolumenal weight-loss intervention in which suture anchors are placed endoscopically in the gastric fundus/distal gastric body. Observational studies of pose have shown safe, effective weight loss. Twelve-month results of a randomized controlled trial comparing weight loss and satiety after pose vs. conventional medical therapy are reported. Subjects with classes I-II obesity were randomized in a 3:1 ratio to pose or diet/exercise guidance only (control). Pose subjects received gastric fundus and distal body suture-anchor plications with diet/exercise counseling. Total body (%TBWL) and excess weight loss (%EWL) were assessed at 6 and 12 months. Analysis of covariance (ANCOVA) was used to analyze 12-month %TBWL. Satiety changes were assessed at 6 and 12 months. From November 2013 to July 2014, 44 subjects were randomized (34, 77.3 % female; mean age, 38.3 ± 10.7 years; body mass index, 36.5 ± 3.4 kg/m 2 ) to pose (n = 34) or control (n = 10) groups in three centers. Mean pose procedure time was 51.8 ± 14.5 min; pose subjects received a mean 8.8 ± 1.3 fundal and 4.2 ± 0.7 distal body plications. Twelve-month TBWL: pose, 13.0 % (EWL, 45.0 %), n = 30 vs. control group, 5.3 % (18.1 %), n = 9; significant mean difference, 7.7 % (95 % CI 2.2, 13.2; p < 0.01). Pose subjects showed significant reductions in satiety parameters (p < 0.001); controls experienced reduced caloric intake and satiety volume (p < 0.05). No serious device- or procedure-related adverse events occurred. In a randomized controlled trial at 12 months, pose-treated subjects had significantly greater weight loss than those treated with diet/exercise guidance alone. At 6 and 12 months, pose subjects showed significant reduction in satiety parameters. clinicaltrials.gov identifier # NCT01843231.

  16. Dimensional analyses of frontal posed smile attractiveness in Japanese female patients.

    PubMed

    Hata, Kyoko; Arai, Kazuhito

    2016-01-01

    To identify appropriate dimensional items in objective diagnostic analysis for attractiveness of frontal posed smile in Japanese female patients by comparing with the result of human judgments. Photographs of frontal posed smiles of 100 Japanese females after orthodontic treatment were evaluated by 20 dental students (10 males and 10 females) using a visual analogue scale (VAS). The photographs were ranked based on the VAS evaluations and the 25 photographs with the highest evaluations were selected as group A, and the 25 photos with the lowest evaluations were designated group B. Then 12 dimensional items of objective analysis selected from a literature review were measured. Means and standard deviations for measurements of the dimensional items were compared between the groups using the unpaired t-test with a significance level of P < .05. Mean values were significantly smaller in group A than in group B for interlabial gap, intervermilion distance, maxillary gingival display, maximum incisor exposure, and lower lip to incisor (P < .05). Significant differences were observed only in the vertical dimension, not in the transverse dimension. Five of the 12 objective diagnostic items were correlated with human judgments of the attractiveness of frontal posed smile in Japanese females after orthodontic treatment.

  17. Constructing a Database from Multiple 2D Images for Camera Pose Estimation and Robot Localization

    NASA Technical Reports Server (NTRS)

    Wolf, Michael; Ansar, Adnan I.; Brennan, Shane; Clouse, Daniel S.; Padgett, Curtis W.

    2012-01-01

    The LMDB (Landmark Database) Builder software identifies persistent image features (landmarks) in a scene viewed multiple times and precisely estimates the landmarks 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates. The LMDB Builder aggregates feature lists across all frames, manages the process to promote selected features to landmarks, and iteratively calculates the 3D landmark positions using the current camera pose estimations (via an optimal ray projection method), and then improves the camera pose estimates using the 3D landmark positions. Finally, it extracts image patches for each landmark from auto-selected key frames and constructs the landmark database. The landmark database can then be used to estimate future camera poses (and therefore localize a robotic vehicle that may be carrying the cameras) by matching current imagery to landmark database image patches and using the known 3D landmark positions to estimate the current pose.

  18. Did Buddha turn the other cheek too? A comparison of posing biases between Jesus and Buddha.

    PubMed

    Duerksen, Kari N; Friedrich, Trista E; Elias, Lorin J

    2015-10-02

    People tend to exhibit a leftward bias in posing. Various studies suggest that posing to the left portrays a stronger emotion, whereas posing to the right portrays a more neutral emotion. Religions such as Christianity emphasize the role of strong emotions in religious experience, whereas religions such as Buddhism emphasize the calming of emotions as being important. In the present study, we investigated if the emphasis on emotionality of a religion influences the depiction of their religious figures. Specifically, we coded 484 paintings of Jesus and Buddha from online art databases for whether the deity exhibited a left bias, right bias, or central face presentation. The posing biases were analysed to discover whether paintings of Jesus would more frequently depict a leftward bias than paintings of Buddha. Jesus is more commonly depicted with a leftward bias than Buddha, and Buddha is more commonly depicted with a central face presentation than Jesus. These findings support the idea that the amount of emotionality that is to be conveyed in artwork influences the whether the subject is posed with a leftward bias.

  19. Problem Solving in Technology Rich Contexts: Mathematics Sense Making in Out-of-School Environments

    ERIC Educational Resources Information Center

    Lowrie, Tom

    2005-01-01

    This investigation describes the way in which a case study participant (aged 7) represented, posed and solved problems in a technology game-based environment. The out-of-school problem-solving context placed numeracy demands on the participant that were more complex and sophisticated than the type of mathematics experiences he encountered in…

  20. Own- and other-race face identity recognition in children: the effects of pose and feature composition.

    PubMed

    Anzures, Gizelle; Kelly, David J; Pascalis, Olivier; Quinn, Paul C; Slater, Alan M; de Viviés, Xavier; Lee, Kang

    2014-02-01

    We used a matching-to-sample task and manipulated facial pose and feature composition to examine the other-race effect (ORE) in face identity recognition between 5 and 10 years of age. Overall, the present findings provide a genuine measure of own- and other-race face identity recognition in children that is independent of photographic and image processing. The current study also confirms the presence of an ORE in children as young as 5 years of age using a recognition paradigm that is sensitive to their developing cognitive abilities. In addition, the present findings show that with age, increasing experience with familiar classes of own-race faces and further lack of experience with unfamiliar classes of other-race faces serves to maintain the ORE between 5 and 10 years of age rather than exacerbate the effect. All age groups also showed a differential effect of stimulus facial pose in their recognition of the internal regions of own- and other-race faces. Own-race inner faces were remembered best when three-quarter poses were used during familiarization and frontal poses were used during the recognition test. In contrast, other-race inner faces were remembered best when frontal poses were used during familiarization and three-quarter poses were used during the recognition test. Thus, children encode and/or retrieve own- and other-race faces from memory in qualitatively different ways.

  1. Own- and other-race face identity recognition in children: The effects of pose and feature composition

    PubMed Central

    Anzures, Gizelle; Kelly, David J.; Pascalis, Olivier; Quinn, Paul C.; Slater, Alan M.; de Viviés, Xavier; Lee, Kang

    2013-01-01

    We used a matching-to-sample task and manipulated facial pose and feature composition to examine the other-race effect (ORE) in face identity recognition between 5 and 10 years of age. Overall, the present findings provide a genuine measure of own- and other-race face identity recognition in children that is independent of photographic and image processing. The present study also confirms the presence of an ORE in children as young as 5 years of age using a recognition paradigm that is sensitive to their developing cognitive abilities. In addition, the present findings show that with age, increasing experience with familiar classes of own-race faces and further lack of experience with unfamiliar classes of other-race faces serves to maintain the ORE between 5 to 10 years of age rather than exacerbate the effect. All age groups also showed a differential effect of stimulus facial pose in their recognition of the internal regions of own- and other-race faces. Own-race inner faces were remembered best when three-quarter poses were used during familiarization and frontal poses were used during the recognition test. In contrast, other-race inner faces were remembered best when frontal poses were used during familiarization and three-quarter poses were used during the recognition test. Thus, children encode and/or retrieve own- and other-race faces from memory in qualitatively different ways. PMID:23731287

  2. L’offre des services de vaccination en milieu urbain, au Cameroun: étude de cas du District de Santé de Djoungolo

    PubMed Central

    Ngomba, Armelle Viviane; Kollo, Basile; Bita, André Fouda; Djouma, Fabrice Nembot; Edengue, Jean Marie; Elongue, Marie Josée; Adiogo, Dieudonné

    2016-01-01

    Introduction Les métropoles camerounaises concentrent un nombre croissant d'enfants cibles, non atteints par les services de vaccination de routine. Méthodes Une étude transversale descriptive, basée sur échantillonnage exhaustif des formations sanitaires légales offrant en routine des services de vaccination a été réalisée dans le district de santé de Djoungolo, (ville de Yaoundé). L'évaluation de l'offre des services de vaccination a été calquée sur l'approche « Atteindre Chaque District ». Résultats Des 70 formations sanitaires ayant participé à l'étude, 3 (4,3%) disposaient d'un micro plan actualisé pour la vaccination de routine. Des 63 (89,4%) formations sanitaires possédant un réfrigérateur fonctionnel, 12 (19,0%) vaccinaient au quotidien en stratégie fixe. Cinquante-sept (81,0%) formations sanitaires ne conduisaient pas des sessions de vaccination en stratégies avancées. La participation des membres de la communauté aux activités de vaccination de routine étaient effective dans 1 aire de santé sur les 12 que compte le district. Une courbe de suivi des couvertures vaccinales correctement renseignée étaient disponible dans 6 (8,5%) formations sanitaires. Conclusion L'approche « Atteindre Chaque District » telle que mise en œuvre dans le district de santé de Djoungolo limite l'atteinte d'un maximum d'enfants cibles. L'effectivité d'une micro planification réaliste, la régularité des sessions de vaccination en stratégie fixes et avancées, le suivi des données orienté vers l'action, la redynamisation communautaire en faveur de la vaccination sont des voies d'amélioration des prestations des services de vaccination, dans ce district. PMID:28292168

  3. Machine-learning scoring functions for identifying native poses of ligands docked to known and novel proteins.

    PubMed

    Ashtawy, Hossam M; Mahapatra, Nihar R

    2015-01-01

    Molecular docking is a widely-employed method in structure-based drug design. An essential component of molecular docking programs is a scoring function (SF) that can be used to identify the most stable binding pose of a ligand, when bound to a receptor protein, from among a large set of candidate poses. Despite intense efforts in developing conventional SFs, which are either force-field based, knowledge-based, or empirical, their limited docking power (or ability to successfully identify the correct pose) has been a major impediment to cost-effective drug discovery. Therefore, in this work, we explore a range of novel SFs employing different machine-learning (ML) approaches in conjunction with physicochemical and geometrical features characterizing protein-ligand complexes to predict the native or near-native pose of a ligand docked to a receptor protein's binding site. We assess the docking accuracies of these new ML SFs as well as those of conventional SFs in the context of the 2007 PDBbind benchmark dataset on both diverse and homogeneous (protein-family-specific) test sets. Further, we perform a systematic analysis of the performance of the proposed SFs in identifying native poses of ligands that are docked to novel protein targets. We find that the best performing ML SF has a success rate of 80% in identifying poses that are within 1 Å root-mean-square deviation from the native poses of 65 different protein families. This is in comparison to a success rate of only 70% achieved by the best conventional SF, ASP, employed in the commercial docking software GOLD. In addition, the proposed ML SFs perform better on novel proteins that they were never trained on before. We also observed steady gains in the performance of these scoring functions as the training set size and number of features were increased by considering more protein-ligand complexes and/or more computationally-generated poses for each complex.

  4. Machine-learning scoring functions for identifying native poses of ligands docked to known and novel proteins

    PubMed Central

    2015-01-01

    Background Molecular docking is a widely-employed method in structure-based drug design. An essential component of molecular docking programs is a scoring function (SF) that can be used to identify the most stable binding pose of a ligand, when bound to a receptor protein, from among a large set of candidate poses. Despite intense efforts in developing conventional SFs, which are either force-field based, knowledge-based, or empirical, their limited docking power (or ability to successfully identify the correct pose) has been a major impediment to cost-effective drug discovery. Therefore, in this work, we explore a range of novel SFs employing different machine-learning (ML) approaches in conjunction with physicochemical and geometrical features characterizing protein-ligand complexes to predict the native or near-native pose of a ligand docked to a receptor protein's binding site. We assess the docking accuracies of these new ML SFs as well as those of conventional SFs in the context of the 2007 PDBbind benchmark dataset on both diverse and homogeneous (protein-family-specific) test sets. Further, we perform a systematic analysis of the performance of the proposed SFs in identifying native poses of ligands that are docked to novel protein targets. Results and conclusion We find that the best performing ML SF has a success rate of 80% in identifying poses that are within 1 Å root-mean-square deviation from the native poses of 65 different protein families. This is in comparison to a success rate of only 70% achieved by the best conventional SF, ASP, employed in the commercial docking software GOLD. In addition, the proposed ML SFs perform better on novel proteins that they were never trained on before. We also observed steady gains in the performance of these scoring functions as the training set size and number of features were increased by considering more protein-ligand complexes and/or more computationally-generated poses for each complex. PMID:25916860

  5. Forrester and Kopra pose in Army T-shirts in JEM

    NASA Image and Video Library

    2009-09-07

    S128-E-008350 (7 Sept. 2009) --- NASA astronauts Patrick Forrester (left) and Tim Kopra, both STS-128 mission specialists, pose for a photo in the Kibo laboratory of the International Space Station while Space Shuttle Discovery remains docked with the station.

  6. A well-posed numerical method to track isolated conformal map singularities in Hele-Shaw flow

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

    Baker, G.; Siegel, M.; Tanveer, S.

    1995-09-01

    We present a new numerical method for calculating an evolving 2D Hele-Shaw interface when surface tension effects are neglected. In the case where the flow is directed from the less viscous fluid into the more viscous fluid, the motion of the interface is ill-posed; small deviations in the initial condition will produce significant changes in the ensuing motion. The situation is disastrous for numerical computation, as small roundoff errors can quickly lead to large inaccuracies in the computed solution. Our method of computation is most easily formulated using a conformal map from the fluid domain into a unit disk. Themore » method relies on analytically continuing the initial data and equations of motion into the region exterior to the disk, where the evolution problem becomes well-posed. The equations are then numerically solved in the extended domain. The presence of singularities in the conformal map outside of the disk introduces specific structures along the fluid interface. Our method can explicitly track the location of isolated pole and branch point singularities, allowing us to draw connections between the development of interfacial patterns and the motion of singularities as they approach the unit disk. In particular, we are able to relate physical features such as finger shape, side-branch formation, and competition between fingers to the nature and location of the singularities. The usefulness of this method in studying the formation of topological singularities (self-intersections of the interface) is also pointed out. 47 refs., 10 figs., 1 tab.« less

  7. Mrs. Chandrasekhar poses with contest winners

    NASA Technical Reports Server (NTRS)

    1999-01-01

    Mrs. Lalitha Chandrasekhar (left), wife of the late Indian- American Nobel Laureate Subrahmanyan Chandrasekhar, poses with a model of the Chandra X-ray Observatory and the winners of the contest to rename the telescope in the TRW Media Hospitality Tent at the NASA Press Site at KSC. The winners of the contest are Jatila van der Veen (center), academic coordinator and lecturer, Physics Dept., University of Santa Barbara, Calif., and Tyrel Johnson (right), high school student, Laclede, Idaho. The name 'Chandra,' a shortened version of Chandrasekhar's name which he preferred among friends and colleagues, was chosen to honor the Nobel Laureate. 'Chandra' also means 'Moon' or 'luminous' in Sanskrit. The observatory is scheduled to be launched aboard Columbia on Space Shuttle mission STS-93.

  8. The Reading Skills of Home Economics: Problems and Selected References.

    ERIC Educational Resources Information Center

    Cranney, A. Garr; And Others

    Since most secondary school reading textbooks give home economics only minimal attention, this paper identifies selected information sources in home economics reading skills and in home economics for high school reading specialists. The first portion of the paper discusses eight principle problems that home economics poses for secondary school…

  9. An Automated Strategy for Binding-Pose Selection and Docking Assessment in Structure-Based Drug Design.

    PubMed

    Ballante, Flavio; Marshall, Garland R

    2016-01-25

    Molecular docking is a widely used technique in drug design to predict the binding pose of a candidate compound in a defined therapeutic target. Numerous docking protocols are available, each characterized by different search methods and scoring functions, thus providing variable predictive capability on a same ligand-protein system. To validate a docking protocol, it is necessary to determine a priori the ability to reproduce the experimental binding pose (i.e., by determining the docking accuracy (DA)) in order to select the most appropriate docking procedure and thus estimate the rate of success in docking novel compounds. As common docking programs use generally different root-mean-square deviation (RMSD) formulas, scoring functions, and format results, it is both difficult and time-consuming to consistently determine and compare their predictive capabilities in order to identify the best protocol to use for the target of interest and to extrapolate the binding poses (i.e., best-docked (BD), best-cluster (BC), and best-fit (BF) poses) when applying a given docking program over thousands/millions of molecules during virtual screening. To reduce this difficulty, two new procedures called Clusterizer and DockAccessor have been developed and implemented for use with some common and "free-for-academics" programs such as AutoDock4, AutoDock4(Zn), AutoDock Vina, DOCK, MpSDockZn, PLANTS, and Surflex-Dock to automatically extrapolate BD, BC, and BF poses as well as to perform consistent cluster and DA analyses. Clusterizer and DockAccessor (code available over the Internet) represent two novel tools to collect computationally determined poses and detect the most predictive docking approach. Herein an application to human lysine deacetylase (hKDAC) inhibitors is illustrated.

  10. Sinc-Galerkin estimation of diffusivity in parabolic problems

    NASA Technical Reports Server (NTRS)

    Smith, Ralph C.; Bowers, Kenneth L.

    1991-01-01

    A fully Sinc-Galerkin method for the numerical recovery of spatially varying diffusion coefficients in linear partial differential equations is presented. Because the parameter recovery problems are inherently ill-posed, an output error criterion in conjunction with Tikhonov regularization is used to formulate them as infinite-dimensional minimization problems. The forward problems are discretized with a sinc basis in both the spatial and temporal domains thus yielding an approximate solution which displays an exponential convergence rate and is valid on the infinite time interval. The minimization problems are then solved via a quasi-Newton/trust region algorithm. The L-curve technique for determining an approximate value of the regularization parameter is briefly discussed, and numerical examples are given which show the applicability of the method both for problems with noise-free data as well as for those whose data contains white noise.

  11. An evaluation of 3D head pose estimation using the Microsoft Kinect v2.

    PubMed

    Darby, John; Sánchez, María B; Butler, Penelope B; Loram, Ian D

    2016-07-01

    The Kinect v2 sensor supports real-time non-invasive 3D head pose estimation. Because the sensor is small, widely available and relatively cheap it has great potential as a tool for groups interested in measuring head posture. In this paper we compare the Kinect's head pose estimates with a marker-based record of ground truth in order to establish its accuracy. During movement of the head and neck alone (with static torso), we find average errors in absolute yaw, pitch and roll angles of 2.0±1.2°, 7.3±3.2° and 2.6±0.7°, and in rotations relative to the rest pose of 1.4±0.5°, 2.1±0.4° and 2.0±0.8°. Larger head rotations where it becomes difficult to see facial features can cause estimation to fail (10.2±6.1% of all poses in our static torso range of motion tests) but we found no significant changes in performance with the participant standing further away from Kinect - additionally enabling full-body pose estimation - or without performing face shape calibration, something which is not always possible for younger or disabled participants. Where facial features remain visible, the sensor has applications in the non-invasive assessment of postural control, e.g. during a programme of physical therapy. In particular, a multi-Kinect setup covering the full range of head (and body) movement would appear to be a promising way forward. Copyright © 2016 Elsevier B.V. All rights reserved.

  12. Inverse problems and optimal experiment design in unsteady heat transfer processes identification

    NASA Technical Reports Server (NTRS)

    Artyukhin, Eugene A.

    1991-01-01

    Experimental-computational methods for estimating characteristics of unsteady heat transfer processes are analyzed. The methods are based on the principles of distributed parameter system identification. The theoretical basis of such methods is the numerical solution of nonlinear ill-posed inverse heat transfer problems and optimal experiment design problems. Numerical techniques for solving problems are briefly reviewed. The results of the practical application of identification methods are demonstrated when estimating effective thermophysical characteristics of composite materials and thermal contact resistance in two-layer systems.

  13. ULTOR(Registered TradeMark) Passive Pose and Position Engine For Spacecraft Relative Navigation

    NASA Technical Reports Server (NTRS)

    Hannah, S. Joel

    2008-01-01

    The ULTOR(Registered TradeMark) Passive Pose and Position Engine (P3E) technology, developed by Advanced Optical Systems, Inc (AOS), uses real-time image correlation to provide relative position and pose data for spacecraft guidance, navigation, and control. Potential data sources include a wide variety of sensors, including visible and infrared cameras. ULTOR(Registered TradeMark) P3E has been demonstrated on a number of host processing platforms. NASA is integrating ULTOR(Registerd TradeMark) P3E into its Relative Navigation System (RNS), which is being developed for the upcoming Hubble Space Telescope (HST) Servicing Mission 4 (SM4). During SM4 ULTOR(Registered TradeMark) P3E will perform realtime pose and position measurements during both the approach and departure phases of the mission. This paper describes the RNS implementation of ULTOR(Registered TradeMark) P3E, and presents results from NASA's hardware-in-the-loop simulation testing against the HST mockup.

  14. Combining in silico and in cerebro approaches for virtual screening and pose prediction in SAMPL4.

    PubMed

    Voet, Arnout R D; Kumar, Ashutosh; Berenger, Francois; Zhang, Kam Y J

    2014-04-01

    The SAMPL challenges provide an ideal opportunity for unbiased evaluation and comparison of different approaches used in computational drug design. During the fourth round of this SAMPL challenge, we participated in the virtual screening and binding pose prediction on inhibitors targeting the HIV-1 integrase enzyme. For virtual screening, we used well known and widely used in silico methods combined with personal in cerebro insights and experience. Regular docking only performed slightly better than random selection, but the performance was significantly improved upon incorporation of additional filters based on pharmacophore queries and electrostatic similarities. The best performance was achieved when logical selection was added. For the pose prediction, we utilized a similar consensus approach that amalgamated the results of the Glide-XP docking with structural knowledge and rescoring. The pose prediction results revealed that docking displayed reasonable performance in predicting the binding poses. However, prediction performance can be improved utilizing scientific experience and rescoring approaches. In both the virtual screening and pose prediction challenges, the top performance was achieved by our approaches. Here we describe the methods and strategies used in our approaches and discuss the rationale of their performances.

  15. Combining in silico and in cerebro approaches for virtual screening and pose prediction in SAMPL4

    NASA Astrophysics Data System (ADS)

    Voet, Arnout R. D.; Kumar, Ashutosh; Berenger, Francois; Zhang, Kam Y. J.

    2014-04-01

    The SAMPL challenges provide an ideal opportunity for unbiased evaluation and comparison of different approaches used in computational drug design. During the fourth round of this SAMPL challenge, we participated in the virtual screening and binding pose prediction on inhibitors targeting the HIV-1 integrase enzyme. For virtual screening, we used well known and widely used in silico methods combined with personal in cerebro insights and experience. Regular docking only performed slightly better than random selection, but the performance was significantly improved upon incorporation of additional filters based on pharmacophore queries and electrostatic similarities. The best performance was achieved when logical selection was added. For the pose prediction, we utilized a similar consensus approach that amalgamated the results of the Glide-XP docking with structural knowledge and rescoring. The pose prediction results revealed that docking displayed reasonable performance in predicting the binding poses. However, prediction performance can be improved utilizing scientific experience and rescoring approaches. In both the virtual screening and pose prediction challenges, the top performance was achieved by our approaches. Here we describe the methods and strategies used in our approaches and discuss the rationale of their performances.

  16. Camera pose estimation for augmented reality in a small indoor dynamic scene

    NASA Astrophysics Data System (ADS)

    Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

    2017-09-01

    Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

  17. Performance of multiple docking and refinement methods in the pose prediction D3R prospective Grand Challenge 2016

    NASA Astrophysics Data System (ADS)

    Fradera, Xavier; Verras, Andreas; Hu, Yuan; Wang, Deping; Wang, Hongwu; Fells, James I.; Armacost, Kira A.; Crespo, Alejandro; Sherborne, Brad; Wang, Huijun; Peng, Zhengwei; Gao, Ying-Duo

    2018-01-01

    We describe the performance of multiple pose prediction methods for the D3R 2016 Grand Challenge. The pose prediction challenge includes 36 ligands, which represent 4 chemotypes and some miscellaneous structures against the FXR ligand binding domain. In this study we use a mix of fully automated methods as well as human-guided methods with considerations of both the challenge data and publicly available data. The methods include ensemble docking, colony entropy pose prediction, target selection by molecular similarity, molecular dynamics guided pose refinement, and pose selection by visual inspection. We evaluated the success of our predictions by method, chemotype, and relevance of publicly available data. For the overall data set, ensemble docking, visual inspection, and molecular dynamics guided pose prediction performed the best with overall mean RMSDs of 2.4, 2.2, and 2.2 Å respectively. For several individual challenge molecules, the best performing method is evaluated in light of that particular ligand. We also describe the protein, ligand, and public information data preparations that are typical of our binding mode prediction workflow.

  18. A Simulation Environment for Benchmarking Sensor Fusion-Based Pose Estimators.

    PubMed

    Ligorio, Gabriele; Sabatini, Angelo Maria

    2015-12-19

    In-depth analysis and performance evaluation of sensor fusion-based estimators may be critical when performed using real-world sensor data. For this reason, simulation is widely recognized as one of the most powerful tools for algorithm benchmarking. In this paper, we present a simulation framework suitable for assessing the performance of sensor fusion-based pose estimators. The systems used for implementing the framework were magnetic/inertial measurement units (MIMUs) and a camera, although the addition of further sensing modalities is straightforward. Typical nuisance factors were also included for each sensor. The proposed simulation environment was validated using real-life sensor data employed for motion tracking. The higher mismatch between real and simulated sensors was about 5% of the measured quantity (for the camera simulation), whereas a lower correlation was found for an axis of the gyroscope (0.90). In addition, a real benchmarking example of an extended Kalman filter for pose estimation from MIMU and camera data is presented.

  19. Estimation of Antenna Pose in the Earth Frame Using Camera and IMU Data from Mobile Phones

    PubMed Central

    Wang, Zhen; Jin, Bingwen; Geng, Weidong

    2017-01-01

    The poses of base station antennas play an important role in cellular network optimization. Existing methods of pose estimation are based on physical measurements performed either by tower climbers or using additional sensors attached to antennas. In this paper, we present a novel non-contact method of antenna pose measurement based on multi-view images of the antenna and inertial measurement unit (IMU) data captured by a mobile phone. Given a known 3D model of the antenna, we first estimate the antenna pose relative to the phone camera from the multi-view images and then employ the corresponding IMU data to transform the pose from the camera coordinate frame into the Earth coordinate frame. To enhance the resulting accuracy, we improve existing camera-IMU calibration models by introducing additional degrees of freedom between the IMU sensors and defining a new error metric based on both the downtilt and azimuth angles, instead of a unified rotational error metric, to refine the calibration. In comparison with existing camera-IMU calibration methods, our method achieves an improvement in azimuth accuracy of approximately 1.0 degree on average while maintaining the same level of downtilt accuracy. For the pose estimation in the camera coordinate frame, we propose an automatic method of initializing the optimization solver and generating bounding constraints on the resulting pose to achieve better accuracy. With this initialization, state-of-the-art visual pose estimation methods yield satisfactory results in more than 75% of cases when plugged into our pipeline, and our solution, which takes advantage of the constraints, achieves even lower estimation errors on the downtilt and azimuth angles, both on average (0.13 and 0.3 degrees lower, respectively) and in the worst case (0.15 and 7.3 degrees lower, respectively), according to an evaluation conducted on a dataset consisting of 65 groups of data. We show that both of our enhancements contribute to the performance

  20. Pose measurement method and experiments for high-speed rolling targets in a wind tunnel.

    PubMed

    Jia, Zhenyuan; Ma, Xin; Liu, Wei; Lu, Wenbo; Li, Xiao; Chen, Ling; Wang, Zhengqu; Cui, Xiaochun

    2014-12-12

    High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°.

  1. Pose Measurement Method and Experiments for High-Speed Rolling Targets in a Wind Tunnel

    PubMed Central

    Jia, Zhenyuan; Ma, Xin; Liu, Wei; Lu, Wenbo; Li, Xiao; Chen, Ling; Wang, Zhengqu; Cui, Xiaochun

    2014-01-01

    High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°. PMID:25615732

  2. On a local solvability and stability of the inverse transmission eigenvalue problem

    NASA Astrophysics Data System (ADS)

    Bondarenko, Natalia; Buterin, Sergey

    2017-11-01

    We prove a local solvability and stability of the inverse transmission eigenvalue problem posed by McLaughlin and Polyakov (1994 J. Diff. Equ. 107 351-82). In particular, this result establishes the minimality of the data used therein. The proof is constructive.

  3. Expanding the Space of Plausible Solutions in a Medical Tutoring System for Problem-Based Learning

    ERIC Educational Resources Information Center

    Kazi, Hameedullah; Haddawy, Peter; Suebnukarn, Siriwan

    2009-01-01

    In well-defined domains such as Physics, Mathematics, and Chemistry, solutions to a posed problem can objectively be classified as correct or incorrect. In ill-defined domains such as medicine, the classification of solutions to a patient problem as correct or incorrect is much more complex. Typical tutoring systems accept only a small set of…

  4. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System

    PubMed Central

    Park, Jae Byung; Lee, Seung Hun; Lee, Il Jae

    2009-01-01

    In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorithms are successively applied to the camera image. The lug pose acquisition is carried out by two stages: the top view alignment and the side view alignment. The top view alignment is to detect the coarse lug pose relatively far from the lug, and the side view alignment is to detect the fine lug pose close to the lug. After the top view alignment, the robot is controlled to move close to the side of the lug for the side view alignment. By this way, the precise 3D lug pose can be obtained. Finally, experiments with the sensor prototype are carried out to verify the feasibility and effectiveness of the proposed sensor. PMID:22400007

  5. Revisiting Mathematical Problem Solving and Posing in the Digital Era: Toward Pedagogically Sound Uses of Modern Technology

    ERIC Educational Resources Information Center

    Abramovich, S.

    2014-01-01

    The availability of sophisticated computer programs such as "Wolfram Alpha" has made many problems found in the secondary mathematics curriculum somewhat obsolete for they can be easily solved by the software. Against this background, an interplay between the power of a modern tool of technology and educational constraints it presents is…

  6. 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.

  7. Crewmembers of STS 51-J pose near amphibious personnel transporter

    NASA Technical Reports Server (NTRS)

    1985-01-01

    Crewmembers of STS 51-J pose near an amphibious personnel transporter at Launch Complex 39 while in Florida for their flight's countdown demonstration test. Left to right are Astronauts Karol J. Grabe, David C. Hilmers, Robert L. Stewart -- all of NASA; and USAF Maj. William A. Pailes, Department of Defense Payload specialist.

  8. International law poses problems for negative emissions research

    NASA Astrophysics Data System (ADS)

    Brent, Kerryn; McGee, Jeffrey; McDonald, Jan; Rohling, Eelco J.

    2018-06-01

    New international governance arrangements that manage environmental risk and potential conflicts of interests are needed to facilitate negative emissions research that is essential to achieving the large-scale CO2 removal implied by the Paris Agreement targets.

  9. Design Research on Personalized Problem Posing in Algebra

    ERIC Educational Resources Information Center

    Walkington, Candace

    2017-01-01

    Algebra is an area of pressing national concern around issues of equity and access in education. Recent theories and research suggest that personalization of instruction can allow students to activate their funds of knowledge and can elicit interest in the content to be learned. This paper examines the results of a large-scale teaching experiment…

  10. Faces of glory: the left-cheek posing bias for medallists of Brazilian jiu-jitsu competitions.

    PubMed

    Okubo, Matia

    2018-04-20

    Laboratory studies have shown that people tend to show the left side of their face when asked to broadly express emotions, while they tend to show the right side when asked to hide emotions. Because emotions are expressed more intensely in the left side of the face, it is hypothesized that an individual's intention to express or hide emotions biases the direction of lateral facial poses. The present study tested this hypothesis using photographic portraits of individuals experiencing emotional events in a naturalistic setting: the reception of medals in Brazilian jiu-jitsu competitions. Portrait photographs of Brazilian jiu-jitsu competitors were sourced online (N = 460) and were rated by two independent raters in terms of posing direction, emotional expression, and medal colour. Gold and silver medallists showed their left cheeks to the camera for commemorative photographs taken immediately after the medal ceremony. Positive emotions were expressed more often for gold medallists than silver ones. The left-cheek posing bias observed in the present study supports the hypothesis that the intended purpose of expressing or hiding emotions determines the direction of lateral posing biases, and extends the laboratory findings to situations in the real world.

  11. Estimating aquatic hazards posed by prescription pharmaceutical residues from municipal wastewater

    EPA Science Inventory

    Risks posed by pharmaceuticals in the environment are hard to estimate due to limited monitoring capacity and difficulty interpreting monitoring results. In order to partially address these issues, we suggest a method for prioritizing pharmaceuticals for monitoring, and a framewo...

  12. SCREENING TO IDENTIFY AND PREVENT URBAN STORM WATER PROBLEMS: ESTIMATING IMPERVIOUS AREA ACCURATELY AND CHEAPLY

    EPA Science Inventory

    Complete identification and eventual prevention of urban/suburban water quality problems pose significant monitoring challenges. Uncontrolled growth of impervious surfaces (roads, buildings and parking) causes detrimental hydrologic changes, stream channel erosion, habitat degra...

  13. Lessons about Climate Change Pose Many Challenges for Science Teachers

    ERIC Educational Resources Information Center

    Cavanagh, Sean

    2007-01-01

    This article reports on lessons about climate change which pose many challenges for science teachers. The natural world today offers a broad--and dire--catalog of scientific phenomena for teachers wanting to craft classroom lessons on the topic of climate change. As public concern about global warming increases, teachers are carving out a larger…

  14. 3D face recognition under expressions, occlusions, and pose variations.

    PubMed

    Drira, Hassen; Ben Amor, Boulbaba; Srivastava, Anuj; Daoudi, Mohamed; Slama, Rim

    2013-09-01

    We propose a novel geometric framework for analyzing 3D faces, with the specific goals of comparing, matching, and averaging their shapes. Here we represent facial surfaces by radial curves emanating from the nose tips and use elastic shape analysis of these curves to develop a Riemannian framework for analyzing shapes of full facial surfaces. This representation, along with the elastic Riemannian metric, seems natural for measuring facial deformations and is robust to challenges such as large facial expressions (especially those with open mouths), large pose variations, missing parts, and partial occlusions due to glasses, hair, and so on. This framework is shown to be promising from both--empirical and theoretical--perspectives. In terms of the empirical evaluation, our results match or improve upon the state-of-the-art methods on three prominent databases: FRGCv2, GavabDB, and Bosphorus, each posing a different type of challenge. From a theoretical perspective, this framework allows for formal statistical inferences, such as the estimation of missing facial parts using PCA on tangent spaces and computing average shapes.

  15. Web-Based Problem-Solving Assignment and Grading System

    NASA Astrophysics Data System (ADS)

    Brereton, Giles; Rosenberg, Ronald

    2014-11-01

    In engineering courses with very specific learning objectives, such as fluid mechanics and thermodynamics, it is conventional to reinforce concepts and principles with problem-solving assignments and to measure success in problem solving as an indicator of student achievement. While the modern-day ease of copying and searching for online solutions can undermine the value of traditional assignments, web-based technologies also provide opportunities to generate individualized well-posed problems with an infinite number of different combinations of initial/final/boundary conditions, so that the probability of any two students being assigned identical problems in a course is vanishingly small. Such problems can be designed and programmed to be: single or multiple-step, self-grading, allow students single or multiple attempts; provide feedback when incorrect; selectable according to difficulty; incorporated within gaming packages; etc. In this talk, we discuss the use of a homework/exam generating program of this kind in a single-semester course, within a web-based client-server system that ensures secure operation.

  16. Gambling involvement and increased risk of gambling problems.

    PubMed

    Phillips, James G; Ogeil, Rowan; Chow, Yang-Wai; Blaszczynski, Alex

    2013-12-01

    The opportunity to gamble has undergone rapid expansion with technology allowing for access to gambling products 24 h a day. This increased online availability challenges governments' abilities to restrict access to gambling. Indeed, the ready access to multiple forms of gambling may potentially contribute to impaired control over urges for problem gamblers. The present study considered whether problem gamblers manifested a tendency to engage in multiple forms of gambling and identified forms of gambling which were more strongly related to problem gambling. In reanalyses of two surveys (Sample 1, N = 464, Sample 2, N = 1141), significant relationships accounting for between 11.3 and 13.5% of the variance were found between the numbers of forms of gambling accessed and degree of problem. Participation in online poker, playing cards and sports wagering were linked to problem gambling. Access to multiple forms of gambling may pose difficulties for the tracking and control of gambling.

  17. SCREENING TO IDENTIFY AND PREVENT URBAN STORM WATER PROBLEMS: ESTIMATING IMPERVIOUS AREA ACCURATELY AND INEXPENSIVELY

    EPA Science Inventory

    Complete identification and eventual prevention of urban water quality problems pose significant monitoring, "smart growth" and water quality management challenges. Uncontrolled increase of impervious surface area (roads, buildings, and parking lots) causes detrimental hydrologi...

  18. 43. Historic photo of Bruce Lundin posing in front of ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    43. Historic photo of Bruce Lundin posing in front of observation window in exhaust cone at base of test stand A in Building 202, September 1960. On file at NASA Plumbrook Research Center, Sandusky, Ohio. NASA photo number C-53170. - Rocket Engine Testing Facility, GRC Building No. 202, NASA Glenn Research Center, Cleveland, Cuyahoga County, OH

  19. The exit-time problem for a Markov jump process

    NASA Astrophysics Data System (ADS)

    Burch, N.; D'Elia, M.; Lehoucq, R. B.

    2014-12-01

    The purpose of this paper is to consider the exit-time problem for a finite-range Markov jump process, i.e, the distance the particle can jump is bounded independent of its location. Such jump diffusions are expedient models for anomalous transport exhibiting super-diffusion or nonstandard normal diffusion. We refer to the associated deterministic equation as a volume-constrained nonlocal diffusion equation. The volume constraint is the nonlocal analogue of a boundary condition necessary to demonstrate that the nonlocal diffusion equation is well-posed and is consistent with the jump process. A critical aspect of the analysis is a variational formulation and a recently developed nonlocal vector calculus. This calculus allows us to pose nonlocal backward and forward Kolmogorov equations, the former equation granting the various moments of the exit-time distribution.

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

    NASA Astrophysics Data System (ADS)

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

    2015-02-01

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

  1. 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

  2. "You Can't Go on the Other Side of the Fence": Preservice Teachers and Real-World Problems

    ERIC Educational Resources Information Center

    Simic-Muller, Ksenija; Fernandes, Anthony; Felton-Koestler, Mathew D.

    2016-01-01

    Our study investigates preservice teachers' perceptions of real-world problems; their beliefs about teaching real-world contexts, especially ones sociopolitical in nature; and their ability to pose meaningful real-world problems. In this paper we present cases of three preservice teachers who participated in interviews that probed their thinking…

  3. Evaluation des Connaissances-Attitudes-Pratiques des populations des districts sanitaires de Benoye, Laoukassy, Moundou et N’Djaména Sud sur la rage canine au Tchad

    PubMed Central

    Mindekem, Rolande; Lechenne, Monique; Alfaroukh, Idriss Oumar; Moto, Daugla Doumagoum; Zinsstag, Jakob; Ouedraogo, Laurent Tinoaga; Salifou, Sahidou

    2017-01-01

    Introduction La rage canine demeure une préoccupation en Afrique comme au Tchad. La présente étude vise à évaluer les Connaissances-Attitudes-Pratiques des populations pour la prise en charge appropriée des personnes exposées et une lutte efficace. Méthodes C’était une étude transversale descriptive réalisée en juillet et septembre dans quatre districts sanitaires au Tchad en 2015. Les données ont été collectées à l’aide d’un questionnaire auprès des ménages recrutés suivant un sondage aléatoire à 3 degrés. Résultats C’était 2428 personnes enquêtées avec un niveau maximum primaire (54,12%). L’âge moyen était de 36 ± 13,50 ans. Ils étaient cultivateurs (35,17%), commerçants (18,04%), ménagères (12,81%). La rage était définie comme une maladie transmise du chien à l’homme (41,43%), une altération du cerveau (41,27%), une sous-alimentation (10,26%). Le chat était faiblement connu réservoir (13,84%) et vecteur (19,77%) ainsi que la griffure comme moyen de transmission (4,61%) et la vaccination du chat comme mesure préventive (0,49%). Les premiers soins en cas de morsure à domicile étaient les pratiques traditionnelles (47,69%), le lavage des plaies (19,48%) ou aucune action entreprise (20,43%). Les ménages consultaient la santé humaine (78,50%), la santé animale (5,35%) et les guérisseurs traditionnels (27%). Conclusion La communication en rapport avec des premiers soins à la maison en cas de morsure, la connaissance du chat comme réservoir et vecteur, celle de la griffure comme moyen de transmission et la promotion de la consultation des services vétérinaires en cas de morsure sont nécessaires. PMID:28761600

  4. Marker detection evaluation by phantom and cadaver experiments for C-arm pose estimation pattern

    NASA Astrophysics Data System (ADS)

    Steger, Teena; Hoßbach, Martin; Wesarg, Stefan

    2013-03-01

    C-arm fluoroscopy is used for guidance during several clinical exams, e.g. in bronchoscopy to locate the bronchoscope inside the airways. Unfortunately, these images provide only 2D information. However, if the C-arm pose is known, it can be used to overlay the intrainterventional fluoroscopy images with 3D visualizations of airways, acquired from preinterventional CT images. Thus, the physician's view is enhanced and localization of the instrument at the correct position inside the bronchial tree is facilitated. We present a novel method for C-arm pose estimation introducing a marker-based pattern, which is placed on the patient table. The steel markers form a pattern, allowing to deduce the C-arm pose by use of the projective invariant cross-ratio. Simulations show that the C-arm pose estimation is reliable and accurate for translations inside an imaging area of 30 cm x 50 cm and rotations up to 30°. Mean error values are 0.33 mm in 3D space and 0.48 px in the 2D imaging plane. First tests on C-arm images resulted in similarly compelling accuracy values and high reliability in an imaging area of 30 cm x 42.5 cm. Even in the presence of interfering structures, tested both with anatomy phantoms and a turkey cadaver, high success rates over 90% and fully satisfying execution times below 4 sec for 1024 px × 1024 px images could be achieved.

  5. Quantitative assessment of human health risk posed by polycyclic aromatic hydrocarbons in urban road dust.

    PubMed

    Ma, Yukun; Liu, An; Egodawatta, Prasanna; McGree, James; Goonetilleke, Ashantha

    2017-01-01

    Among the numerous pollutants present in urban road dust, polycyclic aromatic hydrocarbons (PAHs) are among the most toxic chemical pollutants and can pose cancer risk to humans. The primary aim of the study was to develop a quantitative model to assess the cancer risk from PAHs in urban road dust based on traffic and land use factors and thereby to characterise the risk posed by PAHs in fine (<150μm) and coarse (>150μm) particles. The risk posed by PAHs was quantified as incremental lifetime cancer risk (ILCR), which was modelled as a function of traffic volume and percentages of different urban land uses. The study outcomes highlighted the fact that cancer risk from PAHs in urban road dust is primarily influenced by PAHs associated with fine solids. Heavy PAHs with 5 to 6 benzene rings, especially dibenzo[a,h]anthracene (D[a]A) and benzo[a]pyrene (B[a]P) in the mixture contribute most to the risk. The quantitative model developed based on traffic and land use factors will contribute to informed decision making in relation to the management of risk posed by PAHs in urban road dust. Copyright © 2016 Elsevier B.V. All rights reserved.

  6. 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.

  7. A Flexible and Efficient Method for Solving Ill-Posed Linear Integral Equations of the First Kind for Noisy Data

    NASA Astrophysics Data System (ADS)

    Antokhin, I. I.

    2017-06-01

    We propose an efficient and flexible method for solving Fredholm and Abel integral equations of the first kind, frequently appearing in astrophysics. These equations present an ill-posed problem. Our method is based on solving them on a so-called compact set of functions and/or using Tikhonov's regularization. Both approaches are non-parametric and do not require any theoretic model, apart from some very loose a priori constraints on the unknown function. The two approaches can be used independently or in a combination. The advantage of the method, apart from its flexibility, is that it gives uniform convergence of the approximate solution to the exact one, as the errors of input data tend to zero. Simulated and astrophysical examples are presented.

  8. SU-G-JeP3-03: Effect of Robot Pose On Beam Blocking for Ultrasound Guided SBRT of the Prostate

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

    Gerlach, S; Schlaefer, A; Kuhlemann, I

    Purpose: Ultrasound presents a fast, volumetric image modality for real-time tracking of abdominal organ motion. How-ever, ultrasound transducer placement during radiation therapy is challenging. Recently, approaches using robotic arms for intra-treatment ultrasound imaging have been proposed. Good and reliable imaging requires placing the transducer close to the PTV. We studied the effect of a seven degrees of freedom robot on the fea-sible beam directions. Methods: For five CyberKnife prostate treatment plans we established viewports for the transducer, i.e., points on the patient surface with a soft tissue view towards the PTV. Choosing a feasible transducer pose and using the kinematicmore » redundancy of the KUKA LBR iiwa robot, we considered three robot poses. Poses 1 to 3 had the elbow point anterior, superior, and inferior, respectively. For each pose and each beam starting point, the pro-jections of robot and PTV were computed. We added a 20 mm margin accounting for organ / beam motion. The number of nodes for which the PTV was partially of fully blocked were established. Moreover, the cumula-tive overlap for each of the poses and the minimum overlap over all poses were computed. Results: The fully and partially blocked nodes ranged from 12% to 20% and 13% to 27%, respectively. Typically, pose 3 caused the fewest blocked nodes. The cumulative overlap ranged from 19% to 29%. Taking the minimum overlap, i.e., considering moving the robot’s elbow while maintaining the transducer pose, the cumulative over-lap was reduced to 16% to 18% and was 3% to 6% lower than for the best individual pose. Conclusion: Our results indicate that it is possible to identify feasible ultrasound transducer poses and to use the kinematic redundancy of a 7 DOF robot to minimize the impact of the imaging subsystem on the feasible beam directions for ultrasound guided and motion compensated SBRT. Research partially funded by DFG grants ER 817/1-1 and SCHL 1844/3-1.« less

  9. Laser Remediation of Threats Posed by Small Orbital Debris

    NASA Technical Reports Server (NTRS)

    Fork, Richard L.; Rogers, Jan R.; Hovater, Mary A.

    2012-01-01

    The continually increasing amount of orbital debris in near Earth space poses an increasing challenge to space situational awareness. Recent collisions of spacecraft caused abrupt increases in the density of both large and small debris in near Earth space. An especially challenging class of threats is that due to the increasing density of small (1 mm to 10 cm dimension) orbital debris. This small debris poses a serious threat since: (1) The high velocity enables even millimeter dimension debris to cause serious damage to vulnerable areas of space assets, e.g., detector windows; (2) The small size and large number of debris elements prevent adequate detection and cataloguing. We have identified solutions to this threat in the form of novel laser systems and novel ways of using these laser systems. While implementation of the solutions we identify is challenging we find approaches offering threat mitigation within time frames and at costs of practical interest. We base our analysis on the unique combination of coherent light specifically structured in both space and time and applied in novel ways entirely within the vacuum of space to deorbiting small debris. We compare and contrast laser based small debris removal strategies using ground based laser systems with strategies using space based laser systems. We find laser systems located and used entirely within space offer essential and decisive advantages over groundbased laser systems.

  10. Useful Material Efficiency Green Metrics Problem Set Exercises for Lecture and Laboratory

    ERIC Educational Resources Information Center

    Andraos, John

    2015-01-01

    A series of pedagogical problem set exercises are posed that illustrate the principles behind material efficiency green metrics and their application in developing a deeper understanding of reaction and synthesis plan analysis and strategies to optimize them. Rigorous, yet simple, mathematical proofs are given for some of the fundamental concepts,…

  11. Camera-pose estimation via projective Newton optimization on the manifold.

    PubMed

    Sarkis, Michel; Diepold, Klaus

    2012-04-01

    Determining the pose of a moving camera is an important task in computer vision. In this paper, we derive a projective Newton algorithm on the manifold to refine the pose estimate of a camera. The main idea is to benefit from the fact that the 3-D rigid motion is described by the special Euclidean group, which is a Riemannian manifold. The latter is equipped with a tangent space defined by the corresponding Lie algebra. This enables us to compute the optimization direction, i.e., the gradient and the Hessian, at each iteration of the projective Newton scheme on the tangent space of the manifold. Then, the motion is updated by projecting back the variables on the manifold itself. We also derive another version of the algorithm that employs homeomorphic parameterization to the special Euclidean group. We test the algorithm on several simulated and real image data sets. Compared with the standard Newton minimization scheme, we are now able to obtain the full numerical formula of the Hessian with a 60% decrease in computational complexity. Compared with Levenberg-Marquardt, the results obtained are more accurate while having a rather similar complexity.

  12. Student Engagement in a Structured Problem-Based Approach to Learning: A First-Year Electronic Engineering Study Module on Heat Transfer

    ERIC Educational Resources Information Center

    Montero, E.; Gonzalez, M. J.

    2009-01-01

    Problem-based learning has been at the core of significant developments in engineering education in recent years. This term refers to any learning environment in which the problem drives the learning, because it is posed in such a way that students realize they need to acquire new knowledge before the problem can be solved. This paper presents the…

  13. Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

    NASA Astrophysics Data System (ADS)

    Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

    2007-03-01

    We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

  14. Sensing Strategies for Disambiguating among Multiple Objects in Known Poses.

    DTIC Science & Technology

    1985-08-01

    ELEMENT. PROIECT. TASK Artificial Inteligence Laboratory AE OKUI UBR 545 Technology Square Cambridge, MA 021.39 11. CONTROLLING OFFICE NAME AND ADDRESS 12...AD-Ali65 912 SENSING STRATEGIES FOR DISAMBIGURTING MONG MULTIPLE 1/1 OBJECTS IN KNOWN POSES(U) MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL ...or Dist Special 1 ’ MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. Memo 855 August, 1985 Sensing Strategies for

  15. Real-time 3D human pose recognition from reconstructed volume via voxel classifiers

    NASA Astrophysics Data System (ADS)

    Yoo, ByungIn; Choi, Changkyu; Han, Jae-Joon; Lee, Changkyo; Kim, Wonjun; Suh, Sungjoo; Park, Dusik; Kim, Junmo

    2014-03-01

    This paper presents a human pose recognition method which simultaneously reconstructs a human volume based on ensemble of voxel classifiers from a single depth image in real-time. The human pose recognition is a difficult task since a single depth camera can capture only visible surfaces of a human body. In order to recognize invisible (self-occluded) surfaces of a human body, the proposed algorithm employs voxel classifiers trained with multi-layered synthetic voxels. Specifically, ray-casting onto a volumetric human model generates a synthetic voxel, where voxel consists of a 3D position and ID corresponding to the body part. The synthesized volumetric data which contain both visible and invisible body voxels are utilized to train the voxel classifiers. As a result, the voxel classifiers not only identify the visible voxels but also reconstruct the 3D positions and the IDs of the invisible voxels. The experimental results show improved performance on estimating the human poses due to the capability of inferring the invisible human body voxels. It is expected that the proposed algorithm can be applied to many fields such as telepresence, gaming, virtual fitting, wellness business, and real 3D contents control on real 3D displays.

  16. Hazards posed by distal ash transport and sedimentation from extreme volcanic eruptions

    NASA Astrophysics Data System (ADS)

    Sahagian, D. L.; Proussevitch, A. A.; White, C. M.; Klewicki, J.

    2016-12-01

    Volcanic ash injected into the upper troposphere and lower stratosphere poses a significant hazard to aviation and human security as a result of extreme, explosive eruptions. These have occurred in the recent geologic past, and are expected to occur again, now that modern society and its infrastructure is far more vulnerable than ever before. Atmospheric transport, dispersion, and sedimentation of Ash particles is controlled by fundamentally different processes than control other particles normally transported in the atmosphere due to their complex internal and external morphology. It is thus necessary to elucidate the fundamental processes of particle-fluid interactions in the upper troposphere and lower stratosphere, where most air traffic resides, and thereby enhance the capability of volcanic ash transport models to predict the ash concentration in distal regions that pose aviation and other hazards. Current Volcanic Ash Transport and Dispersion (VATD) models use simplistic stokes settling velocities for larger ash particles, and treat smaller ash particles (that are a large part of the hazard) merely as passive tracers. By incorporating the dynamics of fine ash particle-atmosphere interactions into existing VATD models provides the foundation for a much more accurate assessment framework applied to the hazard posed by specific future extreme eruptions, and thus dramatically reduce both the risk to air traffic and the cost of airport and flight closures, in addition to human health, water quality, agricultural, infrastructure hazards, as well as ice cap albedo and short term climate impacts.

  17. The exit-time problem for a Markov jump process

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

    Burch, N.; D'Elia, Marta; Lehoucq, Richard B.

    2014-12-15

    The purpose of our paper is to consider the exit-time problem for a finite-range Markov jump process, i.e, the distance the particle can jump is bounded independent of its location. Such jump diffusions are expedient models for anomalous transport exhibiting super-diffusion or nonstandard normal diffusion. We refer to the associated deterministic equation as a volume-constrained nonlocal diffusion equation. The volume constraint is the nonlocal analogue of a boundary condition necessary to demonstrate that the nonlocal diffusion equation is well-posed and is consistent with the jump process. A critical aspect of the analysis is a variational formulation and a recently developedmore » nonlocal vector calculus. Furthermore, this calculus allows us to pose nonlocal backward and forward Kolmogorov equations, the former equation granting the various moments of the exit-time distribution.« less

  18. Macrobend optical sensing for pose measurement in soft robot arms

    NASA Astrophysics Data System (ADS)

    Sareh, Sina; Noh, Yohan; Li, Min; Ranzani, Tommaso; Liu, Hongbin; Althoefer, Kaspar

    2015-12-01

    This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic

  19. TOPICAL REVIEW: The stability for the Cauchy problem for elliptic equations

    NASA Astrophysics Data System (ADS)

    Alessandrini, Giovanni; Rondi, Luca; Rosset, Edi; Vessella, Sergio

    2009-12-01

    We discuss the ill-posed Cauchy problem for elliptic equations, which is pervasive in inverse boundary value problems modeled by elliptic equations. We provide essentially optimal stability results, in wide generality and under substantially minimal assumptions. As a general scheme in our arguments, we show that all such stability results can be derived by the use of a single building brick, the three-spheres inequality. Due to the current absence of research funding from the Italian Ministry of University and Research, this work has been completed without any financial support.

  20. Reentry challenges facing women with mental health problems.

    PubMed

    Visher, Christy A; Bakken, Nicholas W

    2014-01-01

    Women entering the correctional system represent a population at high risk for mental health and the body of research on the mental health needs of women offenders is growing. These mental health problems pose challenges for women at every stage of the criminal justice process, from arrest to incarceration to community reentry and reintegration. In this article, we examined mental health status among a sample of 142 women leaving confinement and the role that mental health problems played in shaping their reentry outcomes using data collected between 2002 and 2005 in Houston, Texas. In the year after leaving prison, women with mental health problems reported poorer health, more hospitalizations, more suicidal thoughts, greater difficulties securing housing and employment, more involvement in criminal behavior, and less financial support from family than women with no indication of mental health problems. However, mental health status did not increase the likelihood of substance use relapse or reincarceration. The article concludes with a discussion of recommendations for improved policy and practice.

  1. Exploring a Structure for Mathematics Lessons That Foster Problem Solving and Reasoning

    ERIC Educational Resources Information Center

    Sullivan, Peter; Walker, Nadia; Borcek, Chris; Rennie, Mick

    2015-01-01

    While there is widespread agreement on the importance of incorporating problem solving and reasoning into mathematics classrooms, there is limited specific advice on how this can best happen. This is a report of an aspect of a project that is examining the opportunities and constraints in initiating learning by posing challenging mathematics tasks…

  2. Investigation of MM-PBSA rescoring of docking poses.

    PubMed

    Thompson, David C; Humblet, Christine; Joseph-McCarthy, Diane

    2008-05-01

    Target-based virtual screening is increasingly used to generate leads for targets for which high quality three-dimensional (3D) structures are available. To allow large molecular databases to be screened rapidly, a tiered scoring scheme is often employed whereby a simple scoring function is used as a fast filter of the entire database and a more rigorous and time-consuming scoring function is used to rescore the top hits to produce the final list of ranked compounds. Molecular mechanics Poisson-Boltzmann surface area (MM-PBSA) approaches are currently thought to be quite effective at incorporating implicit solvation into the estimation of ligand binding free energies. In this paper, the ability of a high-throughput MM-PBSA rescoring function to discriminate between correct and incorrect docking poses is investigated in detail. Various initial scoring functions are used to generate docked poses for a subset of the CCDC/Astex test set and to dock one set of actives/inactives from the DUD data set. The effectiveness of each of these initial scoring functions is discussed. Overall, the ability of the MM-PBSA rescoring function to (i) regenerate the set of X-ray complexes when docking the bound conformation of the ligand, (ii) regenerate the X-ray complexes when docking conformationally expanded databases for each ligand which include "conformation decoys" of the ligand, and (iii) enrich known actives in a virtual screen for the mineralocorticoid receptor in the presence of "ligand decoys" is assessed. While a pharmacophore-based molecular docking approach, PhDock, is used to carry out the docking, the results are expected to be general to use with any docking method.

  3. The Expedition Two crew pose in the U.S. Laboratory

    NASA Image and Video Library

    2001-08-17

    ISS003-E-5183 (17 August 2001) --- The Expedition Two crew members pause from their daily activities to pose for a group photo in the Destiny laboratory while visiting the International Space Station (ISS). From left to right are, astronaut Susan J. Helms, flight engineer, cosmonaut Yury V. Usachev, mission commander, and astronaut James S. Voss, flight engineer. Usachev represents Rosaviakosmos. This image was taken with a digital still camera.

  4. A randomized controlled study of power posing before public speaking exposure for social anxiety disorder: No evidence for augmentative effects.

    PubMed

    Davis, Michelle L; Papini, Santiago; Rosenfield, David; Roelofs, Karin; Kolb, Sarah; Powers, Mark B; Smits, Jasper A J

    2017-12-01

    This manuscript details a randomized controlled study designed to test the efficacy of power posing (i.e., briefly holding postures associated with dominance and power) as an augmentative strategy for exposure therapy for social anxiety disorder (SAD). Seventy-three individuals diagnosed with SAD were assigned to one of three conditions: power posing, submissive posing, or rest (no posing) prior to participating in an exposure therapy session. Participants were assessed for between-group differences in pre- and post-manipulation salivary hormone levels, within-session subjective experiences of fear, and pre- and 1-week post-treatment SAD severity outcome measures. Though the intervention resulted in decreased SAD symptom severity one week later, analyses revealed no significant between-group differences on any tested variables. Accordingly, this study provides no evidence to suggest that power posing impacts hormone levels or exposure therapy outcomes. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. Model-based Estimation for Pose, Velocity of Projectile from Stereo Linear Array Image

    NASA Astrophysics Data System (ADS)

    Zhao, Zhuxin; Wen, Gongjian; Zhang, Xing; Li, Deren

    2012-01-01

    The pose (position and attitude) and velocity of in-flight projectiles have major influence on the performance and accuracy. A cost-effective method for measuring the gun-boosted projectiles is proposed. The method adopts only one linear array image collected by the stereo vision system combining a digital line-scan camera and a mirror near the muzzle. From the projectile's stereo image, the motion parameters (pose and velocity) are acquired by using a model-based optimization algorithm. The algorithm achieves optimal estimation of the parameters by matching the stereo projection of the projectile and that of the same size 3D model. The speed and the AOA (angle of attack) could also be determined subsequently. Experiments are made to test the proposed method.

  6. Object recognition and pose estimation of planar objects from range data

    NASA Technical Reports Server (NTRS)

    Pendleton, Thomas W.; Chien, Chiun Hong; Littlefield, Mark L.; Magee, Michael

    1994-01-01

    The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and

  7. The Dynamic Features of Lip Corners in Genuine and Posed Smiles

    PubMed Central

    Guo, Hui; Zhang, Xiao-Hui; Liang, Jun; Yan, Wen-Jing

    2018-01-01

    The smile is a frequently expressed facial expression that typically conveys a positive emotional state and friendly intent. However, human beings have also learned how to fake smiles, typically by controlling the mouth to provide a genuine-looking expression. This is often accompanied by inaccuracies that can allow others to determine that the smile is false. Mouth movement is one of the most striking features of the smile, yet our understanding of its dynamic elements is still limited. The present study analyzes the dynamic features of lip corners, and considers how they differ between genuine and posed smiles. Employing computer vision techniques, we investigated elements such as the duration, intensity, speed, symmetry of the lip corners, and certain irregularities in genuine and posed smiles obtained from the UvA-NEMO Smile Database. After utilizing the facial analysis tool OpenFace, we further propose a new approach to segmenting the onset, apex, and offset phases of smiles, as well as a means of measuring irregularities and symmetry in facial expressions. We extracted these features according to 2D and 3D coordinates, and conducted an analysis. The results reveal that genuine smiles have higher values for onset, offset, apex, and total durations, as well as offset displacement, and a variable we termed Irregularity-b (the SD of the apex phase) than do posed smiles. Conversely, values tended to be lower for onset and offset Speeds, and Irregularity-a (the rate of peaks), Symmetry-a (the correlation between left and right facial movements), and Symmetry-d (differences in onset frame numbers between the left and right faces). The findings from the present study have been compared to those of previous research, and certain speculations are made. PMID:29515508

  8. Posed versus spontaneous facial expressions are modulated by opposite cerebral hemispheres.

    PubMed

    Ross, Elliott D; Pulusu, Vinay K

    2013-05-01

    Clinical research has indicated that the left face is more expressive than the right face, suggesting that modulation of facial expressions is lateralized to the right hemisphere. The findings, however, are controversial because the results explain, on average, approximately 4% of the data variance. Using high-speed videography, we sought to determine if movement-onset asymmetry was a more powerful research paradigm than terminal movement asymmetry. The results were very robust, explaining up to 70% of the data variance. Posed expressions began overwhelmingly on the right face whereas spontaneous expressions began overwhelmingly on the left face. This dichotomy was most robust for upper facial expressions. In addition, movement-onset asymmetries did not predict terminal movement asymmetries, which were not significantly lateralized. The results support recent neuroanatomic observations that upper versus lower facial movements have different forebrain motor representations and recent behavioral constructs that posed versus spontaneous facial expressions are modulated preferentially by opposite cerebral hemispheres and that spontaneous facial expressions are graded rather than non-graded movements. Published by Elsevier Ltd.

  9. Model-based elastography: a survey of approaches to the inverse elasticity problem

    PubMed Central

    Doyley, M M

    2012-01-01

    Elastography is emerging as an imaging modality that can distinguish normal versus diseased tissues via their biomechanical properties. This article reviews current approaches to elastography in three areas — quasi-static, harmonic, and transient — and describes inversion schemes for each elastographic imaging approach. Approaches include: first-order approximation methods; direct and iterative inversion schemes for linear elastic; isotropic materials; and advanced reconstruction methods for recovering parameters that characterize complex mechanical behavior. The paper’s objective is to document efforts to develop elastography within the framework of solving an inverse problem, so that elastography may provide reliable estimates of shear modulus and other mechanical parameters. We discuss issues that must be addressed if model-based elastography is to become the prevailing approach to quasi-static, harmonic, and transient elastography: (1) developing practical techniques to transform the ill-posed problem with a well-posed one; (2) devising better forward models to capture the transient behavior of soft tissue; and (3) developing better test procedures to evaluate the performance of modulus elastograms. PMID:22222839

  10. Exercise Sensing and Pose Recovery Inference Tool (ESPRIT) - A Compact Stereo-based Motion Capture Solution For Exercise Monitoring

    NASA Technical Reports Server (NTRS)

    Lee, Mun Wai

    2015-01-01

    Crew exercise is important during long-duration space flight not only for maintaining health and fitness but also for preventing adverse health problems, such as losses in muscle strength and bone density. Monitoring crew exercise via motion capture and kinematic analysis aids understanding of the effects of microgravity on exercise and helps ensure that exercise prescriptions are effective. Intelligent Automation, Inc., has developed ESPRIT to monitor exercise activities, detect body markers, extract image features, and recover three-dimensional (3D) kinematic body poses. The system relies on prior knowledge and modeling of the human body and on advanced statistical inference techniques to achieve robust and accurate motion capture. In Phase I, the company demonstrated motion capture of several exercises, including walking, curling, and dead lifting. Phase II efforts focused on enhancing algorithms and delivering an ESPRIT prototype for testing and demonstration.

  11. Problems and challenges in patient information retrieval: a descriptive study.

    PubMed Central

    Kogan, S.; Zeng, Q.; Ash, N.; Greenes, R. A.

    2001-01-01

    Many patients now turn to the Web for health care information. However, a lack of domain knowledge and unfamiliarity with medical vocabulary and concepts restrict their ability to successfully obtain information they seek. The purpose of this descriptive study was to identify and classify the problems a patient encounters while performing information retrieval tasks on the Web, and the challenges it poses to informatics research. In this study, we observed patients performing various retrieval tasks, and measured the effectiveness of, satisfaction with, and usefulness of the results. Our study showed that patient information retrieval often failed to produce successful results due to a variety of problems. We propose a classification of patient IR problems based on our observations. PMID:11825205

  12. Handheld pose tracking using vision-inertial sensors with occlusion handling

    NASA Astrophysics Data System (ADS)

    Li, Juan; Slembrouck, Maarten; Deboeverie, Francis; Bernardos, Ana M.; Besada, Juan A.; Veelaert, Peter; Aghajan, Hamid; Casar, José R.; Philips, Wilfried

    2016-07-01

    Tracking of a handheld device's three-dimensional (3-D) position and orientation is fundamental to various application domains, including augmented reality (AR), virtual reality, and interaction in smart spaces. Existing systems still offer limited performance in terms of accuracy, robustness, computational cost, and ease of deployment. We present a low-cost, accurate, and robust system for handheld pose tracking using fused vision and inertial data. The integration of measurements from embedded accelerometers reduces the number of unknown parameters in the six-degree-of-freedom pose calculation. The proposed system requires two light-emitting diode (LED) markers to be attached to the device, which are tracked by external cameras through a robust algorithm against illumination changes. Three data fusion methods have been proposed, including the triangulation-based stereo-vision system, constraint-based stereo-vision system with occlusion handling, and triangulation-based multivision system. Real-time demonstrations of the proposed system applied to AR and 3-D gaming are also included. The accuracy assessment of the proposed system is carried out by comparing with the data generated by the state-of-the-art commercial motion tracking system OptiTrack. Experimental results show that the proposed system has achieved high accuracy of few centimeters in position estimation and few degrees in orientation estimation.

  13. The Soda Can Optimization Problem: Getting Close to the Real Thing

    ERIC Educational Resources Information Center

    Premadasa, Kirthi; Martin, Paul; Sprecher, Bryce; Yang, Lai; Dodge, Noah-Helen

    2016-01-01

    Optimizing the dimensions of a soda can is a classic problem that is frequently posed to freshman calculus students. However, if we only minimize the surface area subject to a fixed volume, the result is a can with a square edge-on profile, and this differs significantly from actual cans. By considering a more realistic model for the can that…

  14. Expedition One and STS-97 crew pose for portrait

    NASA Image and Video Library

    2000-12-08

    S97-E-5144 (8 December 2000) --- The STS-97 astronauts and the Expedition 1 crew members pose for an historic portrait onboard the International Space Station (ISS) shortly after hatches were opened between the Space Shuttle Endeavour and the station. In front, from the left, are Sergei K. Krikalev, Brent W. Jett, Jr., William M. Shepherd and Joseph R. Tanner. In back, from the left, are Marc Garneau, Carlos I. Noriega, Yuri P. Gidzenko and Michael J. Bloomfield. A pre-set digital still camera was used to record the scene.

  15. The Perception of Faces in Different Poses by One-Month-Olds.

    ERIC Educational Resources Information Center

    Sai, F.; Bushnell, I. W. R.

    The ability of 1-month-old infants to recognize their mothers visually was explored with the live faces of mother and stranger presented in three different poses: en face (full face), half-profile, and profile. Subjects were 16 infants with normal Apgar scores at birth who were volunteered by their parents after an initial contact in a maternity…

  16. Protein-protein structure prediction by scoring molecular dynamics trajectories of putative poses.

    PubMed

    Sarti, Edoardo; Gladich, Ivan; Zamuner, Stefano; Correia, Bruno E; Laio, Alessandro

    2016-09-01

    The prediction of protein-protein interactions and their structural configuration remains a largely unsolved problem. Most of the algorithms aimed at finding the native conformation of a protein complex starting from the structure of its monomers are based on searching the structure corresponding to the global minimum of a suitable scoring function. However, protein complexes are often highly flexible, with mobile side chains and transient contacts due to thermal fluctuations. Flexibility can be neglected if one aims at finding quickly the approximate structure of the native complex, but may play a role in structure refinement, and in discriminating solutions characterized by similar scores. We here benchmark the capability of some state-of-the-art scoring functions (BACH-SixthSense, PIE/PISA and Rosetta) in discriminating finite-temperature ensembles of structures corresponding to the native state and to non-native configurations. We produce the ensembles by running thousands of molecular dynamics simulations in explicit solvent starting from poses generated by rigid docking and optimized in vacuum. We find that while Rosetta outperformed the other two scoring functions in scoring the structures in vacuum, BACH-SixthSense and PIE/PISA perform better in distinguishing near-native ensembles of structures generated by molecular dynamics in explicit solvent. Proteins 2016; 84:1312-1320. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

  17. Satellite markers: a simple method for ground truth car pose on stereo video

    NASA Astrophysics Data System (ADS)

    Gil, Gustavo; Savino, Giovanni; Piantini, Simone; Pierini, Marco

    2018-04-01

    Artificial prediction of future location of other cars in the context of advanced safety systems is a must. The remote estimation of car pose and particularly its heading angle is key to predict its future location. Stereo vision systems allow to get the 3D information of a scene. Ground truth in this specific context is associated with referential information about the depth, shape and orientation of the objects present in the traffic scene. Creating 3D ground truth is a measurement and data fusion task associated with the combination of different kinds of sensors. The novelty of this paper is the method to generate ground truth car pose only from video data. When the method is applied to stereo video, it also provides the extrinsic camera parameters for each camera at frame level which are key to quantify the performance of a stereo vision system when it is moving because the system is subjected to undesired vibrations and/or leaning. We developed a video post-processing technique which employs a common camera calibration tool for the 3D ground truth generation. In our case study, we focus in accurate car heading angle estimation of a moving car under realistic imagery. As outcomes, our satellite marker method provides accurate car pose at frame level, and the instantaneous spatial orientation for each camera at frame level.

  18. Face Recognition across Varying Poses in 7- and 9-Month-Old Infants: The Role of Facial Expression

    ERIC Educational Resources Information Center

    Gross, Cornelia; Schwarzer, Gudrun

    2010-01-01

    Three studies were conducted to determine whether 7- and 9-month-old infants generalize face identity to a novel pose of the same face when only internal face sections with and without an emotional expression were presented. In Study 1, 7- and 9-month-old infants were habituated to a full frontal or three-quarter pose of a face with neutral facial…

  19. Problem-based learning within endocrine physiology lectures.

    PubMed

    Walters, M R

    2001-12-01

    Methods were needed to improve the interest of medical students in the 10-lecture Endocrine Physiology block at the end of the second semester of study. Other incentives for improvement included the possibility of attracting students into endocrine research electives and the pressure to improve teaching approaches that results from the high tuition they pay. The principal approach adopted was that of whole class problem-based learning sessions (PBLS) in which the lecture period begins with a brief overview of one to three simplified cases, followed by the usual didactic lecture. At the end of the lecture, each PBL case is read in detail, with several questions posed to the students. Their answers are then used to reinforce concepts from the lecture material. This method can also provide some continuity between lectures, either by using a case in several lectures to illustrate different points, or by posing a question at the beginning of class that illustrates a point from the prior lecture. The outcome of this approach has been very successful: student evaluations of the lecture block and their attendance have significantly improved.

  20. Towards a Unified Framework for Pose, Expression, and Occlusion Tolerant Automatic Facial Alignment.

    PubMed

    Seshadri, Keshav; Savvides, Marios

    2016-10-01

    We propose a facial alignment algorithm that is able to jointly deal with the presence of facial pose variation, partial occlusion of the face, and varying illumination and expressions. Our approach proceeds from sparse to dense landmarking steps using a set of specific models trained to best account for the shape and texture variation manifested by facial landmarks and facial shapes across pose and various expressions. We also propose the use of a novel l1-regularized least squares approach that we incorporate into our shape model, which is an improvement over the shape model used by several prior Active Shape Model (ASM) based facial landmark localization algorithms. Our approach is compared against several state-of-the-art methods on many challenging test datasets and exhibits a higher fitting accuracy on all of them.

  1. The Y2K Problem: Will It Just Be Another New Year's Eve?

    ERIC Educational Resources Information Center

    Iwanowski, Jay

    1998-01-01

    Potential problems for college and university computing functions posed by arrival of the year 2000 (Y2K) are discussed, including arithmetic calculations and sorting functions based on two-digit year dates, embedding of two-digit dates in archival data, system coordination for data exchange, unique number generation, and leap year calculations. A…

  2. First stereo video dataset with ground truth for remote car pose estimation using satellite markers

    NASA Astrophysics Data System (ADS)

    Gil, Gustavo; Savino, Giovanni; Pierini, Marco

    2018-04-01

    Leading causes of PTW (Powered Two-Wheeler) crashes and near misses in urban areas are on the part of a failure or delayed prediction of the changing trajectories of other vehicles. Regrettably, misperception from both car drivers and motorcycle riders results in fatal or serious consequences for riders. Intelligent vehicles could provide early warning about possible collisions, helping to avoid the crash. There is evidence that stereo cameras can be used for estimating the heading angle of other vehicles, which is key to anticipate their imminent location, but there is limited heading ground truth data available in the public domain. Consequently, we employed a marker-based technique for creating ground truth of car pose and create a dataset∗ for computer vision benchmarking purposes. This dataset of a moving vehicle collected from a static mounted stereo camera is a simplification of a complex and dynamic reality, which serves as a test bed for car pose estimation algorithms. The dataset contains the accurate pose of the moving obstacle, and realistic imagery including texture-less and non-lambertian surfaces (e.g. reflectance and transparency).

  3. Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

    NASA Astrophysics Data System (ADS)

    Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

    2017-03-01

    In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

  4. On the Problems of Construction and Statistical Inference Associated with a Generalization of Canonical Variables.

    DTIC Science & Technology

    1982-02-01

    of them are pre- sented in this paper. As an application, important practical problems similar to the one posed by Gnanadesikan (1977), p. 77 can be... Gnanadesikan and Wilk (1969) to search for a non-linear combination, giving rise to non-linear first principal component. So, a p-dinensional vector can...distribution, Gnanadesikan and Gupta (1970) and earlier Eaton (1967) have considered the problem of ranking the r underlying populations according to the

  5. Establishment of a new relationship between posed smile width and lower facial height: A cross-sectional study

    PubMed Central

    Abraham, Aby; George, Jinu; Peter, Elbe; Philip, Koshi; Chankramath, Rajesh; Johns, Dexton Antony; Bhaskar, Anitha

    2015-01-01

    Objective: The present study is intended to add a new parameter that would be useful in orthodontic clinical evaluation, treatment planning, and determination of vertical dimension (at occlusion). Materials and Methods: Standardized videographic recording of 79 subjects during posed smile was captured. Each video was then cut into 30 photos using the free studio software. The widest commissure-to-commissure posed smile frame (posed smile width [SW]) was selected as one of 10 or more frames showing an identical smile. Lower third of the face is measured from subnasale to soft tissue menton using a digital vernier caliper. Two values were then compared. Ratio between lower facial height and posed SW was calculated. Results: The co-relation between smiling width and lower facial height was found to be statistically significant (P < 0.01). The ratio of lower facial height and smiling width was calculated as 1.0016 with a standard deviation (SD) = 0.04 in males and 1.0301 with an SD = 0.07 in females. The difference between the mean lower facial height in males and females was statistically significant with a t = 10.231 and P = 0.000. The difference between the mean smiling width in males and females was also statistically significant with a t = 5.653 and P = 0.000. Conclusion: In class I subjects with pleasing appearance, normal facial proportions, normal overjet and overbite, and average Frankfort mandibular angle, the lower facial height (subnasale to soft tissue menton) is equal to posed SW. PMID:26430369

  6. Docking pose selection by interaction pattern graph similarity: application to the D3R grand challenge 2015.

    PubMed

    Slynko, Inna; Da Silva, Franck; Bret, Guillaume; Rognan, Didier

    2016-09-01

    High affinity ligands for a given target tend to share key molecular interactions with important anchoring amino acids and therefore often present quite conserved interaction patterns. This simple concept was formalized in a topological knowledge-based scoring function (GRIM) for selecting the most appropriate docking poses from previously X-rayed interaction patterns. GRIM first converts protein-ligand atomic coordinates (docking poses) into a simple 3D graph describing the corresponding interaction pattern. In a second step, proposed graphs are compared to that found from template structures in the Protein Data Bank. Last, all docking poses are rescored according to an empirical score (GRIMscore) accounting for overlap of maximum common subgraphs. Taking the opportunity of the public D3R Grand Challenge 2015, GRIM was used to rescore docking poses for 36 ligands (6 HSP90α inhibitors, 30 MAP4K4 inhibitors) prior to the release of the corresponding protein-ligand X-ray structures. When applied to the HSP90α dataset, for which many protein-ligand X-ray structures are already available, GRIM provided very high quality solutions (mean rmsd = 1.06 Å, n = 6) as top-ranked poses, and significantly outperformed a state-of-the-art scoring function. In the case of MAP4K4 inhibitors, for which preexisting 3D knowledge is scarce and chemical diversity is much larger, the accuracy of GRIM poses decays (mean rmsd = 3.18 Å, n = 30) although GRIM still outperforms an energy-based scoring function. GRIM rescoring appears to be quite robust with comparison to the other approaches competing for the same challenge (42 submissions for the HSP90 dataset, 27 for the MAP4K4 dataset) as it ranked 3rd and 2nd respectively, for the two investigated datasets. The rescoring method is quite simple to implement, independent on a docking engine, and applicable to any target for which at least one holo X-ray structure is available.

  7. Docking pose selection by interaction pattern graph similarity: application to the D3R grand challenge 2015

    NASA Astrophysics Data System (ADS)

    Slynko, Inna; Da Silva, Franck; Bret, Guillaume; Rognan, Didier

    2016-09-01

    High affinity ligands for a given target tend to share key molecular interactions with important anchoring amino acids and therefore often present quite conserved interaction patterns. This simple concept was formalized in a topological knowledge-based scoring function (GRIM) for selecting the most appropriate docking poses from previously X-rayed interaction patterns. GRIM first converts protein-ligand atomic coordinates (docking poses) into a simple 3D graph describing the corresponding interaction pattern. In a second step, proposed graphs are compared to that found from template structures in the Protein Data Bank. Last, all docking poses are rescored according to an empirical score (GRIMscore) accounting for overlap of maximum common subgraphs. Taking the opportunity of the public D3R Grand Challenge 2015, GRIM was used to rescore docking poses for 36 ligands (6 HSP90α inhibitors, 30 MAP4K4 inhibitors) prior to the release of the corresponding protein-ligand X-ray structures. When applied to the HSP90α dataset, for which many protein-ligand X-ray structures are already available, GRIM provided very high quality solutions (mean rmsd = 1.06 Å, n = 6) as top-ranked poses, and significantly outperformed a state-of-the-art scoring function. In the case of MAP4K4 inhibitors, for which preexisting 3D knowledge is scarce and chemical diversity is much larger, the accuracy of GRIM poses decays (mean rmsd = 3.18 Å, n = 30) although GRIM still outperforms an energy-based scoring function. GRIM rescoring appears to be quite robust with comparison to the other approaches competing for the same challenge (42 submissions for the HSP90 dataset, 27 for the MAP4K4 dataset) as it ranked 3rd and 2nd respectively, for the two investigated datasets. The rescoring method is quite simple to implement, independent on a docking engine, and applicable to any target for which at least one holo X-ray structure is available.

  8. Mickey Mouse poses with a portrait of Ronald McNair

    NASA Technical Reports Server (NTRS)

    1999-01-01

    In the gymnasium of Ronald McNair Magnet School in Cocoa, Fla., Mickey Mouse poses with a portrait of NASA astronaut Ronald McNair. The portrait was presented to the school by Walt Disney World during a tribute to McNair. The school had previously been renamed for the fallen astronaut who was one of a crew of seven who lost their lives during an accident following launch of the Space Shuttle Challenger in January 1986.

  9. Helms, Usachev and Voss pose with the ISS Ships Log

    NASA Image and Video Library

    2001-08-20

    STS105-E-5386 (20 August 2001) --- The Expedition Two crewmembers, Susan J. Helms (left), flight engineer, cosmonaut Yury V. Usachev, mission commander, and James S. Voss, flight engineer, pose in Unity Node 1 for their final group photograph aboard the International Space Station (ISS). With the arrival of Expedition Three, Usachev, Helms and Voss will return to Earth with the STS-105 crew thus completing their five month mission. This image was taken with a digital still camera.

  10. Theory research of seam recognition and welding torch pose control based on machine vision

    NASA Astrophysics Data System (ADS)

    Long, Qiang; Zhai, Peng; Liu, Miao; He, Kai; Wang, Chunyang

    2017-03-01

    At present, the automation requirement of the welding become higher, so a method of the welding information extraction by vision sensor is proposed in this paper, and the simulation with the MATLAB has been conducted. Besides, in order to improve the quality of robot automatic welding, an information retrieval method for welding torch pose control by visual sensor is attempted. Considering the demands of welding technology and engineering habits, the relative coordinate systems and variables are strictly defined, and established the mathematical model of the welding pose, and verified its feasibility by using the MATLAB simulation in the paper, these works lay a foundation for the development of welding off-line programming system with high precision and quality.

  11. Optimization of multi-image pose recovery of fluoroscope tracking (FTRAC) fiducial in an image-guided femoroplasty system

    NASA Astrophysics Data System (ADS)

    Liu, Wen P.; Armand, Mehran; Otake, Yoshito; Taylor, Russell H.

    2011-03-01

    Percutaneous femoroplasty [1], or femoral bone augmentation, is a prospective alternative treatment for reducing the risk of fracture in patients with severe osteoporosis. We are developing a surgical robotics system that will assist orthopaedic surgeons in planning and performing a patient-specific, augmentation of the femur with bone cement. This collaborative project, sponsored by the National Institutes of Health (NIH), has been the topic of previous publications [2],[3] from our group. This paper presents modifications to the pose recovery of a fluoroscope tracking (FTRAC) fiducial during our process of 2D/3D registration of X-ray intraoperative images to preoperative CT data. We show improved automata of the initial pose estimation as well as lower projection errors with the advent of a multiimage pose optimization step.

  12. Self-organizing neural integration of pose-motion features for human action recognition

    PubMed Central

    Parisi, German I.; Weber, Cornelius; Wermter, Stefan

    2015-01-01

    The visual recognition of complex, articulated human movements is fundamental for a wide range of artificial systems oriented toward human-robot communication, action classification, and action-driven perception. These challenging tasks may generally involve the processing of a huge amount of visual information and learning-based mechanisms for generalizing a set of training actions and classifying new samples. To operate in natural environments, a crucial property is the efficient and robust recognition of actions, also under noisy conditions caused by, for instance, systematic sensor errors and temporarily occluded persons. Studies of the mammalian visual system and its outperforming ability to process biological motion information suggest separate neural pathways for the distinct processing of pose and motion features at multiple levels and the subsequent integration of these visual cues for action perception. We present a neurobiologically-motivated approach to achieve noise-tolerant action recognition in real time. Our model consists of self-organizing Growing When Required (GWR) networks that obtain progressively generalized representations of sensory inputs and learn inherent spatio-temporal dependencies. During the training, the GWR networks dynamically change their topological structure to better match the input space. We first extract pose and motion features from video sequences and then cluster actions in terms of prototypical pose-motion trajectories. Multi-cue trajectories from matching action frames are subsequently combined to provide action dynamics in the joint feature space. Reported experiments show that our approach outperforms previous results on a dataset of full-body actions captured with a depth sensor, and ranks among the best results for a public benchmark of domestic daily actions. PMID:26106323

  13. Using Approximate Dynamic Programming to Solve the Stochastic Demand Military Inventory Routing Problem with Direct Delivery

    DTIC Science & Technology

    due to the dangers of utilizing convoy operations. However, enemy actions, austere conditions, and inclement weather pose a significant risk to a...squares temporal differencing for policy evaluation. We construct a representative problem instance based on an austere combat environment in order to

  14. Is It a Noun or Is It a Verb? Resolving the Ambicategoricality Problem

    ERIC Educational Resources Information Center

    Conwell, Erin; Morgan, James L.

    2012-01-01

    In many languages, significant numbers of words are used in more than one grammatical category; English, in particular, has many words that can be used as both nouns and verbs. Such "ambicategoricality" potentially poses problems for children trying to learn the grammatical properties of words and has been used to argue against the logical…

  15. Enrichment and assessment of the health risks posed by heavy metals in PM1 in Changji, Xinjiang, China.

    PubMed

    Liu, Yu Y; Shen, Ya X; Liu, Cheng; Liu, Hao F

    2017-04-16

    The present study aims to investigate the influence of human activity on heavy metals in a typical arid urban area of China and assess human health risks posed by heavy metals in PM 1 (particles <1.0 μm in diameter) for different people. In this paper, Changji (Xinjiang, China) was selected as the study area, and samples were collected from March 2014 to March 2015. A total 14 elements in PM 1 were quantified using ICP-MS. An enrichment factor (EF) was used to assess the influence of human activity on the contamination of these metals. The results indicated that Mn was not enriched; Co, Cu, Cr, Ni, Tl, and V were slightly enriched; Mo, Pb, and Sb were moderately enriched; and Ag, As, and Cd were strongly enriched. To assess the health risks associated with inhaling PM 1 , the risk assessment code and loss in life expectancy based on the individual metals were calculated. The results showed that the elements Ag, Cu, Mo, Pb, Sb, Tl, and V in PM 1 posed low levels of non-carcinogenic risks, but these metals may still pose risks to certain susceptible populations. In addition, the results also showed that As, Co, and Cr posed an appreciable carcinogenic risk, while Cd and Ni posed low levels of carcinogenic risk. The total predicted loss of life expectancy caused by the three metals As, Co, and Ni was 63.67 d for the elderly, 30.95 d for adult males, 26.62 d for adult females, and 48.22 d for children. Therefore, the safety of the elderly and children exposed to PM 1 should be given more attention than the safety of adults. The results from this study demonstrate that the health risks posed by heavy metals in PM 1 in Changji, Xinjiang, China should be examined.

  16. STS-89 Commander Wilcutt poses the day before launch

    NASA Technical Reports Server (NTRS)

    1998-01-01

    STS-89 Commander Terrence Wilcutt poses in front of the crew's family and friends at KSC's Launch Pad 39A the day before the scheduled launch of Space Shuttle Endeavour. Final preparations are under way toward liftoff on Jan. 22 on the eighth mission to dock with the Russian Space Station Mir. After docking, Mission Specialist Andrew Thomas, Ph.D., will transfer to the space station, succeeding David Wolf, M.D., who will return to Earth aboard Endeavour. Dr. Thomas will live and work on Mir until June. STS-89 is scheduled for liftoff at 9:48 p.m. EST.

  17. A well-posed and stable stochastic Galerkin formulation of the incompressible Navier–Stokes equations with random data

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

    Pettersson, Per, E-mail: per.pettersson@uib.no; Nordström, Jan, E-mail: jan.nordstrom@liu.se; Doostan, Alireza, E-mail: alireza.doostan@colorado.edu

    2016-02-01

    We present a well-posed stochastic Galerkin formulation of the incompressible Navier–Stokes equations with uncertainty in model parameters or the initial and boundary conditions. The stochastic Galerkin method involves representation of the solution through generalized polynomial chaos expansion and projection of the governing equations onto stochastic basis functions, resulting in an extended system of equations. A relatively low-order generalized polynomial chaos expansion is sufficient to capture the stochastic solution for the problem considered. We derive boundary conditions for the continuous form of the stochastic Galerkin formulation of the velocity and pressure equations. The resulting problem formulation leads to an energy estimatemore » for the divergence. With suitable boundary data on the pressure and velocity, the energy estimate implies zero divergence of the velocity field. Based on the analysis of the continuous equations, we present a semi-discretized system where the spatial derivatives are approximated using finite difference operators with a summation-by-parts property. With a suitable choice of dissipative boundary conditions imposed weakly through penalty terms, the semi-discrete scheme is shown to be stable. Numerical experiments in the laminar flow regime corroborate the theoretical results and we obtain high-order accurate results for the solution variables and the velocity divergence converges to zero as the mesh is refined.« less

  18. Expedition Three crew poses for photo at pad

    NASA Technical Reports Server (NTRS)

    2001-01-01

    KENNEDY SPACE CENTER, Fla. -- The Expedition Three crew poses for a photo on Launch Pad 39A. From left are cosmonaut Vladimir Nikolaevich Dezhurov, Commander Frank Culbertson and cosmonaut Mikhail Tyurin. The STS-105 and Expedition Three crews are at Kennedy Space Center participating in a Terminal Countdown Demonstration Test, a dress rehearsal for launch. The activities include emergency egress training, a simulated launch countdown and familiarization with the payload. Mission STS-105 will be transporting the Expedition Three crew, several payloads and scientific experiments to the International Space Station aboard Space Shuttle Discovery. The Expedition Two crew members currently on the Station will return to Earth on Discovery. The mission is scheduled to launch no earlier than Aug. 9, 2001

  19. Perceptions of the importance and control of professional problems in the clinical setting.

    PubMed

    Maupomé, G; Borges-Yáñez, S A; Dáez-de-Bonilla, F J; Pineda-Cruz, A

    2001-01-01

    The objective of this study was to identify the relative importance of culturally relevant professional problems and the degree of control over them, as perceived by dentists and dental students in Mexico City, Mexico. The dentists and students ranked 13 problems according to importance and then according to the perceived degree of control over each one. Novice clinicians were less secure about their ability to cope with the legal, financial, and clinical performance problems, whereas experienced clinicians were more concerned about occupational hazards and the dental market and culture. Both reported similar perceptions of their control of the problems. This preliminary information should support introducing into dental schools relevant practice-management courses, targeting continuing education efforts, and instituting professional counseling measures to meet the challenges posed by these problems.

  20. Expedition 26 Crewmembers pose with European Matroshka-R Phantom Experiment

    NASA Image and Video Library

    2011-03-11

    ISS026-E-033131 (11 March 2011) --- Russian cosmonauts Alexander Kaleri (left foreground), Oleg Skripochka (right foreground), Dmitry Kondratyev (left background) and European Space Agency astronaut Paolo Nespoli, all Expedition 26 flight engineers, pose for a photo with the European Matroshka-R Phantom experiment in the Zarya Functional Cargo Block (FGB) of the International Space Station. Matroshka, the name for the traditional Russian set of nestling dolls, is an antroph-amorphous model of a human torso designed for radiation studies.

  1. Application of structured support vector machine backpropagation to a convolutional neural network for human pose estimation.

    PubMed

    Witoonchart, Peerajak; Chongstitvatana, Prabhas

    2017-08-01

    In this study, for the first time, we show how to formulate a structured support vector machine (SSVM) as two layers in a convolutional neural network, where the top layer is a loss augmented inference layer and the bottom layer is the normal convolutional layer. We show that a deformable part model can be learned with the proposed structured SVM neural network by backpropagating the error of the deformable part model to the convolutional neural network. The forward propagation calculates the loss augmented inference and the backpropagation calculates the gradient from the loss augmented inference layer to the convolutional layer. Thus, we obtain a new type of convolutional neural network called an Structured SVM convolutional neural network, which we applied to the human pose estimation problem. This new neural network can be used as the final layers in deep learning. Our method jointly learns the structural model parameters and the appearance model parameters. We implemented our method as a new layer in the existing Caffe library. Copyright © 2017 Elsevier Ltd. All rights reserved.

  2. "Preparatory power posing affects nonverbal presence and job interview performance": Correction to Cuddy et al. (2015).

    PubMed

    2018-05-01

    Reports an error in "Preparatory power posing affects nonverbal presence and job interview performance" by Amy J. C. Cuddy, Caroline A. Wilmuth, Andy J. Yap and Dana R. Carney ( Journal of Applied Psychology , 2015[Jul], Vol 100[4], 1286-1295). In the article, the degrees of freedom associated with the three F-tests noted on pages 1289 and 1290 should be 1 and 59 (and not 1 and 60, as previously reported). Also, on p. 1290, in the first sentence under the "Mediation" heading, it should be noted that the dependent variables were regressed onto the mediators, and not the other way around. Finally, in Figures 2 and 3 (on p.< 1292), the beta weights reported for Nonverbal Presence should be .773 (p < .001) for Overall Performance as the dependent variable, and .456 (p < .001) for Hireability as the dependent variable. (The following abstract of the original article appeared in record 2015-04973-001.) The authors tested whether engaging in expansive (vs. contractive) "power poses" before a stressful job interview-preparatory power posing-would enhance performance during the interview. Participants adopted high-power (i.e., expansive, open) poses or low-power (i.e., contractive, closed) poses, and then prepared and delivered a speech to 2 evaluators as part of a mock job interview. All interview speeches were videotaped and coded for overall performance and hireability and for 2 potential mediators: verbal content (e.g., structure, content) and nonverbal presence (e.g., captivating, enthusiastic). As predicted, those who prepared for the job interview with high- (vs. low-) power poses performed better and were more likely to be chosen for hire; this relation was mediated by nonverbal presence, but not by verbal content. Although previous research has focused on how a nonverbal behavior that is enacted during interactions and observed by perceivers affects how those perceivers evaluate and respond to the actor, this experiment focused on how a nonverbal behavior that is

  3. Pre-service teachers’ challenges in presenting mathematical problems

    NASA Astrophysics Data System (ADS)

    Desfitri, R.

    2018-01-01

    The purpose of this study was to analyzed how pre-service teachers prepare and assigned tasks or assignments in teaching practice situations. This study was also intended to discuss about kind of tasks or assignments they gave to students. Participants of this study were 15 selected pre-service mathematics teachers from mathematics education department who took part on microteaching class as part of teaching preparation program. Based on data obtained, it was occasionally found that there were hidden errors on questions or tasks assigned by pre-service teachers which might lead their students not to be able to reach a logical or correct answer. Although some answers might seem to be true, they were illogical or unfavourable. It is strongly recommended that pre-service teachers be more careful when posing mathematical problems so that students do not misunderstand the problems or the concepts, since both teachers and students were sometimes unaware of errors in problems being worked on.

  4. A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation

    NASA Astrophysics Data System (ADS)

    Shen, Dan; Xiang, Xingyu; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

    2018-05-01

    This paper revises and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motions. The 3D motion of satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motorcontrolled- ball along a rod (robotic arm), which is attached to the robot. Lidar only measurements are used to estimate the pose information of the multiple robots. SLAM (simultaneous localization and mapping) is running on one robot to generate the map and compute the pose for the robot. Based on the SLAM map maintained by the robot, the other robots run the adaptive Monte Carlo localization (AMCL) method to estimate their poses. The controller is designed to guide the robot to follow a given orbit. The controllability is analyzed by using a feedback linearization method. Experiments are conducted to show the convergence of AMCL and the orbit tracking performance.

  5. New Additions to the Toolkit for Forward/Inverse Problems in Electrocardiography within the SCIRun Problem Solving Environment.

    PubMed

    Coll-Font, Jaume; Burton, Brett M; Tate, Jess D; Erem, Burak; Swenson, Darrel J; Wang, Dafang; Brooks, Dana H; van Dam, Peter; Macleod, Rob S

    2014-09-01

    Cardiac electrical imaging often requires the examination of different forward and inverse problem formulations based on mathematical and numerical approximations of the underlying source and the intervening volume conductor that can generate the associated voltages on the surface of the body. If the goal is to recover the source on the heart from body surface potentials, the solution strategy must include numerical techniques that can incorporate appropriate constraints and recover useful solutions, even though the problem is badly posed. Creating complete software solutions to such problems is a daunting undertaking. In order to make such tools more accessible to a broad array of researchers, the Center for Integrative Biomedical Computing (CIBC) has made an ECG forward/inverse toolkit available within the open source SCIRun system. Here we report on three new methods added to the inverse suite of the toolkit. These new algorithms, namely a Total Variation method, a non-decreasing TMP inverse and a spline-based inverse, consist of two inverse methods that take advantage of the temporal structure of the heart potentials and one that leverages the spatial characteristics of the transmembrane potentials. These three methods further expand the possibilities of researchers in cardiology to explore and compare solutions to their particular imaging problem.

  6. Language Problems in Demographic Field Work in Africa: The Case of the Cameroon Fertility Survey. Scientific Reports, No. 2.

    ERIC Educational Resources Information Center

    Ware, Helen

    This report is the result of a two-month study commissioned by the World Fertility Survey prior to the inclusion of Cameroon in the WFS program, in order to examine the problem of linguistic diversity and the obstacles this problem might pose to a demographic survey of the country. The study was to propose a strategy which would uphold the WFS…

  7. Alcohol use patterns, problems and policies in Malaysia.

    PubMed

    Jernigan, D H; Indran, S K

    1997-12-01

    The roots of Malaysia's drinking patterns lie in the introduction of most forms of alcohol by Europeans. Although Malaysia today has relatively low per capita alcohol consumption, available studies and interviews with alcohol industry officials point to a small segment of the population that drinks heavily and causes and experiences substantial alcohol related-problems. Indians are over-represented in this sub-population, but studies also reveal substantial drinking problems among Chinese and Malays. Government officials categorize alcohol as an Indian problem. The government devotes little resources to monitoring drinking patterns, use or problems; or to preventing, treating or educating the public about alcohol-related problems. Alcohol-producing transnational corporations own shares of all of Malaysia's major alcohol producers. In the face of high alcohol taxes and a ban on broadcast advertising of alcoholic beverages, these companies market alcohol aggressively, making health claims, targeting heavy drinkers and encouraging heavy drinking, employing indirect advertising, and using women in seductive poses and occupations to attract the mostly male drinking population. Monitoring of the country's alcohol problems is greatly needed in order to establish alcohol consumption more clearly as a national health and safety issue, while stronger controls and greater corporate responsibility are required to control alcohol marketing.

  8. Hazards posed by a banned drug--phenformin is still hanging around.

    PubMed

    Ching, C K; Lai, C K; Poon, W T; Wong, Ernest N P; Yan, W W; Chan, Albert Y W; Mak, Tony W L

    2008-02-01

    The Hospital Authority Toxicology Reference Laboratory confirmed six cases of phenformin use, with or without complications, from July 2005 to November 2006. Two of the patients presented with potentially fatal phenformin-induced lactic acidosis. Phenformin was found (or suspected to be) adulterating Chinese proprietary medicine in five of the six cases. We report these six cases to highlight the underrecognised hazards posed by phenformin, a banned drug in Hong Kong.

  9. Exterior view of submarine with survey crew posed in front. ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    Exterior view of submarine with survey crew posed in front. From left to right: Todd Croteau - U.S. National Park Service, Joshua Price - U.S. Navy, Bert Ho - National Oceanic and Atmospheric Administration, Michael McCarthy - Western Australia Maritime Museum, Larry Murphy - U.S. National Park Service, Don Johnson- University of Nebraska Engineering School, James Delgado- Institute for Nautical Archeology, Jacinto Ahmendra - Government of Panama. - Sub Marine Explorer, Located along the beach of Isla San Telmo, Pearl Islands, Isla San Telmo, Former Panama Canal Zone, CZ

  10. What Are the Odds? Modern Relevance and Bayes Factor Solutions for MacAlister's Problem from the 1881 "Educational Times"

    ERIC Educational Resources Information Center

    Jamil, Tahira; Marsman, Maarten; Ly, Alexander; Morey, Richard D.; Wagenmakers, Eric-Jan

    2017-01-01

    In 1881, Donald MacAlister posed a problem in the "Educational Times" that remains relevant today. The problem centers on the statistical evidence for the effectiveness of a treatment based on a comparison between two proportions. A brief historical sketch is followed by a discussion of two default Bayesian solutions, one based on a…

  11. Solving time-dependent two-dimensional eddy current problems

    NASA Technical Reports Server (NTRS)

    Lee, Min Eig; Hariharan, S. I.; Ida, Nathan

    1990-01-01

    Transient eddy current calculations are presented for an EM wave-scattering and field-penetrating case in which a two-dimensional transverse magnetic field is incident on a good (i.e., not perfect) and infinitely long conductor. The problem thus posed is of initial boundary-value interface type, where the boundary of the conductor constitutes the interface. A potential function is used for time-domain modeling of the situation, and finite difference-time domain techniques are used to march the potential function explicitly in time. Attention is given to the case of LF radiation conditions.

  12. 3D sensor algorithms for spacecraft pose determination

    NASA Astrophysics Data System (ADS)

    Trenkle, John M.; Tchoryk, Peter, Jr.; Ritter, Greg A.; Pavlich, Jane C.; Hickerson, Aaron S.

    2006-05-01

    Researchers at the Michigan Aerospace Corporation have developed accurate and robust 3-D algorithms for pose determination (position and orientation) of satellites as part of an on-going effort supporting autonomous rendezvous, docking and space situational awareness activities. 3-D range data from a LAser Detection And Ranging (LADAR) sensor is the expected input; however, the approach is unique in that the algorithms are designed to be sensor independent. Parameterized inputs allow the algorithms to be readily adapted to any sensor of opportunity. The cornerstone of our approach is the ability to simulate realistic range data that may be tailored to the specifications of any sensor. We were able to modify an open-source raytracing package to produce point cloud information from which high-fidelity simulated range images are generated. The assumptions made in our experimentation are as follows: 1) we have access to a CAD model of the target including information about the surface scattering and reflection characteristics of the components; 2) the satellite of interest may appear at any 3-D attitude; 3) the target is not necessarily rigid, but does have a limited number of configurations; and, 4) the target is not obscured in any way and is the only object in the field of view of the sensor. Our pose estimation approach then involves rendering a large number of exemplars (100k to 5M), extracting 2-D (silhouette- and projection-based) and 3-D (surface-based) features, and then training ensembles of decision trees to predict: a) the 4-D regions on a unit hypersphere into which the unit quaternion that represents the vehicle [Q X, Q Y, Q Z, Q W] is pointing, and, b) the components of that unit quaternion. Results have been quite promising and the tools and simulation environment developed for this application may also be applied to non-cooperative spacecraft operations, Autonomous Hazard Detection and Avoidance (AHDA) for landing craft, terrain mapping, vehicle

  13. Invasive Lionfish (Pterosis volitans) Pose Public Health Threats.

    PubMed

    Diaz, James H

    2015-01-01

    The lionfish, Pterosis volitans, a native of Indo-Pacific oceans, is a popular saltwater aquarium fish despite venomous spines on its fins. Lionfish were inadvertently introduced into the western Atlantic from Florida in the early 1990s and have overpopulated and dispersed widely into the Caribbean Sea and Gulf of Mexico. Initiatives to control lionfish populations were launched, including the National Oceanographic and Atmospheric Administration (NOAA)-sponsored "Lionfish as Food Campaign".2 Recently, scientists from the Food and Drug Administration (FDA) reported that lionfish caught off the US Virgin Islands contained ciguatoxins and could cause ciguatera fish poisoning (CFP); a seafood-borne poisoning without an antidote or any specific treatment, and a potential for prolonged neurotoxicity. Lionfish pose several public health threats. New strategies to control the lionfish population explosion in coastal waters and offshore fisheries are needed now to ensure seafood safety and public health. The lionfish, Pterosis volitans, is native to the reefs of the western Indian and Pacific Oceans (Figure 1). Brightly colored with red, white, and black stripes and adorned with feathery fins, the lionfish is a popular saltwater aquarium fish despite venomous spines on its fins (Figure 2). Lionfish were introduced into the western North Atlantic from Florida in the early 1990s after some specimens were discarded by dissatisfied amateur aquarists and others escaped from hurricane-flooded public aquariums.1 Since lionfish are voracious carnivores, have few natural predators, and reproduce prolifically, they have overpopulated and dispersed widely from Cape Hatteras to Florida, throughout the Caribbean Sea, and into the Gulf of Mexico.1 The population density of lionfish in its new, invaded territory now exceeds that of its native habitat.1 As a result, campaigns to control lionfish populations were launched in Florida and the Caribbean. Lionfish now pose several public

  14. Conceptual, Methodological, and Ethical Problems in Communicating Uncertainty in Clinical Evidence

    PubMed Central

    Han, Paul K. J.

    2014-01-01

    The communication of uncertainty in clinical evidence is an important endeavor that poses difficult conceptual, methodological, and ethical problems. Conceptual problems include logical paradoxes in the meaning of probability and “ambiguity”— second-order uncertainty arising from the lack of reliability, credibility, or adequacy of probability information. Methodological problems include questions about optimal methods for representing fundamental uncertainties and for communicating these uncertainties in clinical practice. Ethical problems include questions about whether communicating uncertainty enhances or diminishes patient autonomy and produces net benefits or harms. This article reviews the limited but growing literature on these problems and efforts to address them and identifies key areas of focus for future research. It is argued that the critical need moving forward is for greater conceptual clarity and consistent representational methods that make the meaning of various uncertainties understandable, and for clinical interventions to support patients in coping with uncertainty in decision making. PMID:23132891

  15. Group Work Tests for Context-Rich Problems

    NASA Astrophysics Data System (ADS)

    Meyer, Chris

    2016-05-01

    The group work test is an assessment strategy that promotes higher-order thinking skills for solving context-rich problems. With this format, teachers are able to pose challenging, nuanced questions on a test, while providing the support weaker students need to get started and show their understanding. The test begins with a group discussion phase, when students are given a "number-free" version of the problem. This phase allows students to digest the story-like problem, explore solution ideas, and alleviate some test anxiety. After 10-15 minutes of discussion, students inform the instructor of their readiness for the individual part of the test. What follows next is a pedagogical phase change from lively group discussion to quiet individual work. The group work test is a natural continuation of the group work in our daily physics classes and helps reinforce the importance of collaboration. This method has met with success at York Mills Collegiate Institute, in Toronto, Ontario, where it has been used consistently for unit tests and the final exam of the grade 12 university preparation physics course.

  16. The Spatial and the Visual in Mental Spatial Reasoning: An Ill-Posed Distinction

    NASA Astrophysics Data System (ADS)

    Schultheis, Holger; Bertel, Sven; Barkowsky, Thomas; Seifert, Inessa

    It is an ongoing and controversial debate in cognitive science which aspects of knowledge humans process visually and which ones they process spatially. Similarly, artificial intelligence (AI) and cognitive science research, in building computational cognitive systems, tended to use strictly spatial or strictly visual representations. The resulting systems, however, were suboptimal both with respect to computational efficiency and cognitive plau sibility. In this paper, we propose that the problems in both research strands stem from a mis conception of the visual and the spatial in mental spatial knowl edge pro cessing. Instead of viewing the visual and the spatial as two clearly separable categories, they should be conceptualized as the extremes of a con tinuous dimension of representation. Regarding psychology, a continuous di mension avoids the need to exclusively assign processes and representations to either one of the cate gories and, thus, facilitates a more unambiguous rating of processes and rep resentations. Regarding AI and cognitive science, the con cept of a continuous spatial / visual dimension provides the possibility of rep re sentation structures which can vary continuously along the spatial / visual di mension. As a first step in exploiting these potential advantages of the pro posed conception we (a) introduce criteria allowing for a non-dichotomic judgment of processes and representations and (b) present an approach towards rep re sentation structures that can flexibly vary along the spatial / visual dimension.

  17. Recognition and Posing of Emotional Expressions by Abused Children and Their Mothers.

    ERIC Educational Resources Information Center

    Camras, Linda A.; And Others

    1988-01-01

    A total of 20 abused and 20 nonabused pairs of children of three-seven years and their mothers participated in a facial expression posing task and a facial expression recognition task. Findings suggest that abused children may not observe as often as nonabused children do the easily interpreted voluntary displays of emotion by their mothers. (RH)

  18. Correlation Techniques as Applied to Pose Estimation in Space Station Docking

    NASA Technical Reports Server (NTRS)

    Rollins, J. Michael; Juday, Richard D.; Monroe, Stanley E., Jr.

    2002-01-01

    The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots essentially must form a constellation of specific relative positions in the incoming digital image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1I20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow, obscuration and lighting irregularity compensation are discussed.

  19. Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

    NASA Astrophysics Data System (ADS)

    Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

    2017-12-01

    Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

  20. Complex collaborative problem-solving processes in mission control.

    PubMed

    Fiore, Stephen M; Wiltshire, Travis J; Oglesby, James M; O'Keefe, William S; Salas, Eduardo

    2014-04-01

    NASA's Mission Control Center (MCC) is responsible for control of the International Space Station (ISS), which includes responding to problems that obstruct the functioning of the ISS and that may pose a threat to the health and well-being of the flight crew. These problems are often complex, requiring individuals, teams, and multiteam systems, to work collaboratively. Research is warranted to examine individual and collaborative problem-solving processes in this context. Specifically, focus is placed on how Mission Control personnel-each with their own skills and responsibilities-exchange information to gain a shared understanding of the problem. The Macrocognition in Teams Model describes the processes that individuals and teams undertake in order to solve problems and may be applicable to Mission Control teams. Semistructured interviews centering on a recent complex problem were conducted with seven MCC professionals. In order to assess collaborative problem-solving processes in MCC with those predicted by the Macrocognition in Teams Model, a coding scheme was developed to analyze the interview transcriptions. Findings are supported with excerpts from participant transcriptions and suggest that team knowledge-building processes accounted for approximately 50% of all coded data and are essential for successful collaborative problem solving in mission control. Support for the internalized and externalized team knowledge was also found (19% and 20%, respectively). The Macrocognition in Teams Model was shown to be a useful depiction of collaborative problem solving in mission control and further research with this as a guiding framework is warranted.

  1. 3D pose estimation and motion analysis of the articulated human hand-forearm limb in an industrial production environment

    NASA Astrophysics Data System (ADS)

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

    2010-09-01

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

  2. Online Guidance, Advice, and Support for Problem Gamblers and Concerned Relatives and Friends: An Evaluation of the "GamAid" Pilot Service

    ERIC Educational Resources Information Center

    Wood, Richard T. A.; Griffiths, Mark D.

    2007-01-01

    The paper reports one of the first ever studies to evaluate the effectiveness of an online help and guidance service for problem gamblers. The evaluation utilised a mixed methods design in order to examine both primary and secondary data relating to the client experience. In addition, the researchers posed as problem gamblers in order to obtain…

  3. Individual Differences in Students' Complex Problem Solving Skills: How They Evolve and What They Imply

    ERIC Educational Resources Information Center

    Wüstenberg, Sascha; Greiff, Samuel; Vainikainen, Mari-Pauliina; Murphy, Kevin

    2016-01-01

    Changes in the demands posed by increasingly complex workplaces in the 21st century have raised the importance of nonroutine skills such as complex problem solving (CPS). However, little is known about the antecedents and outcomes of CPS, especially with regard to malleable external factors such as classroom climate. To investigate the relations…

  4. Prediction of binding poses to FXR using multi-targeted docking combined with molecular dynamics and enhanced sampling

    NASA Astrophysics Data System (ADS)

    Bhakat, Soumendranath; Åberg, Emil; Söderhjelm, Pär

    2018-01-01

    Advanced molecular docking methods often aim at capturing the flexibility of the protein upon binding to the ligand. In this study, we investigate whether instead a simple rigid docking method can be applied, if combined with multiple target structures to model the backbone flexibility and molecular dynamics simulations to model the sidechain and ligand flexibility. The methods are tested for the binding of 35 ligands to FXR as part of the first stage of the Drug Design Data Resource (D3R) Grand Challenge 2 blind challenge. The results show that the multiple-target docking protocol performs surprisingly well, with correct poses found for 21 of the ligands. MD simulations started on the docked structures are remarkably stable, but show almost no tendency of refining the structure closer to the experimentally found binding pose. Reconnaissance metadynamics enhances the exploration of new binding poses, but additional collective variables involving the protein are needed to exploit the full potential of the method.

  5. Prediction of binding poses to FXR using multi-targeted docking combined with molecular dynamics and enhanced sampling.

    PubMed

    Bhakat, Soumendranath; Åberg, Emil; Söderhjelm, Pär

    2018-01-01

    Advanced molecular docking methods often aim at capturing the flexibility of the protein upon binding to the ligand. In this study, we investigate whether instead a simple rigid docking method can be applied, if combined with multiple target structures to model the backbone flexibility and molecular dynamics simulations to model the sidechain and ligand flexibility. The methods are tested for the binding of 35 ligands to FXR as part of the first stage of the Drug Design Data Resource (D3R) Grand Challenge 2 blind challenge. The results show that the multiple-target docking protocol performs surprisingly well, with correct poses found for 21 of the ligands. MD simulations started on the docked structures are remarkably stable, but show almost no tendency of refining the structure closer to the experimentally found binding pose. Reconnaissance metadynamics enhances the exploration of new binding poses, but additional collective variables involving the protein are needed to exploit the full potential of the method.

  6. Catchment scale assessment of risk posed by traffic generated heavy metals and polycyclic aromatic hydrocarbons.

    PubMed

    Ma, Yukun; McGree, James; Liu, An; Deilami, Kaveh; Egodawatta, Prasanna; Goonetilleke, Ashantha

    2017-10-01

    Heavy metals (HMs) and polycyclic aromatic hydrocarbons (PAHs) are among the most toxic chemical pollutants present in urban stormwater. Consequently, urban stormwater reuse is constrained due to the human health risk posed by these pollutants. This study developed a scientifically robust approach to assess the risk to human health posed by HMs and PAHs in urban stormwater in order to enhance its reuse. Accordingly, an innovative methodology was created consisting of four stages: quantification of traffic and land use parameters; estimation of pollutant concentrations for model development; risk assessment, and risk map presentation. This methodology will contribute to catchment scale assessment of the risk associated with urban stormwater and for risk mitigation. The risk map developed provides a simple and efficient approach to identify the critical areas within a large catchment. The study also found that heavy molecular weight PAHs (PAHs with 5-6 benzene rings) in urban stormwater pose higher risk to human health compared to light molecular PAHs (PAHs with 2-4 benzene rings). These outcomes will facilitate the development of practical approaches for applying appropriate mitigation measures for the safe management of urban stormwater pollution and for the identification of enhanced reuse opportunities. Copyright © 2017 Elsevier Inc. All rights reserved.

  7. STS-33 crewmember pose on Discovery, OV-103, middeck for onboard portrait

    NASA Image and Video Library

    1989-11-27

    STS033-22-035 (22-27 Nov. 1989) --- STS-33 crewmembers, wearing mission polo shirts, pose on the middeck of the Space Shuttle Discovery for an in-flight crew portrait. Clockwise (starting at left) are astronauts Frederick D. Gregory, commander; Kathryn C. Thornton, mission specialist; John E. Blaha, pilot; Manley L. (Sonny) Carter Jr., and F. Story Musgrave, mission specialists.

  8. Open problems of magnetic island control by electron cyclotron current drive

    DOE PAGES

    Grasso, Daniela; Lazzaro, E.; Borgogno, D.; ...

    2016-11-17

    This study reviews key aspects of the problem of magnetic islands control by electron cyclotron current drive in fusion devices. On the basis of the ordering of the basic spatial and time scales of the magnetic reconnection physics, we present the established results, highlighting some of the open issues posed by the small-scale structures that typically accompany the nonlinear evolution of the magnetic islands and constrain the effect of the control action.

  9. Evaluation of human health risks posed by carcinogenic and non-carcinogenic multiple contaminants associated with consumption of fish from Taihu Lake, China.

    PubMed

    Yu, Yingxin; Wang, Xinxin; Yang, Dan; Lei, Bingli; Zhang, Xiaolan; Zhang, Xinyu

    2014-07-01

    The present study estimated the human daily intake and uptake of organochlorine pesticides (OCPs), polychlorinated biphenyls (PCBs), polybrominated diphenyl ethers (PBDEs), polycyclic aromatic hydrocarbons (PAHs), and toxic trace elements [mercury (Hg), chromium (Cr), cadmium (Cd), and arsenic (As)] due to consumption of fish from Taihu Lake, China, and the associated potential health risks posed by these contaminants. The health risks posed by the contaminants were assessed using a risk quotient of the fish consumption rate to the maximum allowable fish consumption rate considering the contaminants for carcinogenic and non-carcinogenic effect endpoints. The results showed that fish consumption would not pose non-cancer risks. However, some species would cause a cancer risk. Relative risks of the contaminants were calculated to investigate the contaminant which posed the highest risk to humans. As a result, in view of the contaminants for carcinogenic effects, As was the contaminant which posed the highest risk to humans. However, when non-carcinogenic effects of the contaminants were considered, Hg posed the highest risk. The risk caused by PBDEs was negligible. The results demonstrated that traditional contaminants, such as As, Hg, DDTs (dichlorodiphenyltrichloroethane and its metabolites), and PCBs, require more attention in Taihu Lake than the other target contaminants. Copyright © 2014 Elsevier Ltd. All rights reserved.

  10. STS-98 crew poses for photo after media briefing

    NASA Technical Reports Server (NTRS)

    2001-01-01

    KENNEDY SPACE CENTER, Fla. -- After a media briefing at Launch Pad 39A, the STS-98 crew poses in the slidewire basket landing zone. Standing, left to right, are Pilot Mark Polansky, Mission Specialist Thomas Jones, Commander Ken Cockrell and Mission Specialists Marsha Ivins and Robert Curbeam. All are at KSC to take part in Terminal Countdown Demonstration Test activities, which include emergency egress training and a simulated launch countdown. STS-98 is the seventh construction flight to the International Space Station, carrying as payload the U.S. Lab Destiny, a key element in the construction of the ISS. Launch of STS-98 is scheduled for Jan. 19 at 2:11 a.m.

  11. Predicting 3D pose in partially overlapped X-ray images of knee prostheses using model-based Roentgen stereophotogrammetric analysis (RSA).

    PubMed

    Hsu, Chi-Pin; Lin, Shang-Chih; Shih, Kao-Shang; Huang, Chang-Hung; Lee, Chian-Her

    2014-12-01

    After total knee replacement, the model-based Roentgen stereophotogrammetric analysis (RSA) technique has been used to monitor the status of prosthetic wear, misalignment, and even failure. However, the overlap of the prosthetic outlines inevitably increases errors in the estimation of prosthetic poses due to the limited amount of available outlines. In the literature, quite a few studies have investigated the problems induced by the overlapped outlines, and manual adjustment is still the mainstream. This study proposes two methods to automate the image processing of overlapped outlines prior to the pose registration of prosthetic models. The outline-separated method defines the intersected points and segments the overlapped outlines. The feature-recognized method uses the point and line features of the remaining outlines to initiate registration. Overlap percentage is defined as the ratio of overlapped to non-overlapped outlines. The simulated images with five overlapping percentages are used to evaluate the robustness and accuracy of the proposed methods. Compared with non-overlapped images, overlapped images reduce the number of outlines available for model-based RSA calculation. The maximum and root mean square errors for a prosthetic outline are 0.35 and 0.04 mm, respectively. The mean translation and rotation errors are 0.11 mm and 0.18°, respectively. The errors of the model-based RSA results are increased when the overlap percentage is beyond about 9%. In conclusion, both outline-separated and feature-recognized methods can be seamlessly integrated to automate the calculation of rough registration. This can significantly increase the clinical practicability of the model-based RSA technique.

  12. The inverse problems of wing panel manufacture processes

    NASA Astrophysics Data System (ADS)

    Oleinikov, A. I.; Bormotin, K. S.

    2013-12-01

    It is shown that inverse problems of steady-state creep bending of plates in both the geometrically linear and nonlinear formulations can be represented in a variational formulation. Steady-state values of the obtained functionals corresponding to the solutions of the problems of inelastic deformation and springback are determined by applying a finite element procedure to the functionals. Optimal laws of creep deformation are formulated using the criterion of minimizing damage in the functionals of the inverse problems. The formulated problems are reduced to the problems solved by the finite element method using MSC.Marc software. Currently, forming of light metals poses tremendous challenges due to their low ductility at room temperature and their unusual deformation characteristics at hot-cold work: strong asymmetry between tensile and compressive behavior, and a very pronounced anisotropy. We used the constitutive models of steady-state creep of initially transverse isotropy structural materials the kind of the stress state has influence. The paper gives basics of the developed computer-aided system of design, modeling, and electronic simulation targeting the processes of manufacture of wing integral panels. The modeling results can be used to calculate the die tooling, determine the panel processibility, and control panel rejection in the course of forming.

  13. Assessing exposure risks for freshwater tilapia species posed by mercury and methylmercury.

    PubMed

    Cheng, Yi-Hsien; Lin, Yi-Jun; You, Shu-Han; Yang, Ying-Fei; How, Chun Ming; Tseng, Yi-Ting; Chen, Wei-Yu; Liao, Chung-Min

    2016-08-01

    Waterborne and dietborne exposures of freshwater fish to mercury (Hg) in the forms of inorganic (Hg(II)) and organic (methylmercury or MeHg) affect their growth, development, and reproduction. However, an integrated mechanistic risk model framework to predict the impact of Hg(II)/MeHg on freshwater fish is lacking. Here, we integrated biokinetic, physiological and biogeographic data to calibrate and then establish key risk indices-hazardous quotient and exceedance risk-for freshwater tilapia species across geographic ranges of several major rivers in Taiwan. We found that Hg(II) burden was highest in kidney followed by gill, intestine, liver, blood, and muscle. Our results showed that Hg was less likely to pose mortality risk (mortality rate less than 5 %) for freshwater tilapia species. However, Hg is likely to pose the potential hazard to aquatic environments constrained by safety levels for aquatic organisms. Sensitivity analysis showed that amount of Hg accumulated in tilapia was most influenced by sediment uptake rate. Our approach opens up new possibilities for predicting future fish population health with the impacts of continued Hg exposure to provide information on which fish are deemed safe for human consumption.

  14. STS-105 MS Barry and Commander Horowitz pose in the U.S. Laboratory

    NASA Image and Video Library

    2001-08-17

    ISS003-E-5185 (17 August 2001) --- Astronauts Daniel T. Barry (left), STS-105 mission specialist, and Scott J. Horowitz, commander, pause from their daily activities to pose for this photo in the Destiny laboratory while visiting the International Space Station (ISS). This image was taken with a digital still camera.

  15. 2 CFR 200.205 - Federal awarding agency review of risk posed by applicants.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... cooperative agreements, the Federal awarding agency must have in place a framework for evaluating the risks... 2 Grants and Agreements 1 2014-01-01 2014-01-01 false Federal awarding agency review of risk posed by applicants. 200.205 Section 200.205 Grants and Agreements Office of Management and Budget Guidance...

  16. Researcher Poses with a Nuclear Rocket Model

    NASA Image and Video Library

    1961-11-21

    A researcher at the NASA Lewis Research Center with slide ruler poses with models of the earth and a nuclear-propelled rocket. The Nuclear Engine for Rocket Vehicle Applications (NERVA) was a joint NASA and Atomic Energy Commission (AEC) endeavor to develop a nuclear-powered rocket for both long-range missions to Mars and as a possible upper-stage for the Apollo Program. The early portion of the program consisted of basic reactor and fuel system research. This was followed by a series of Kiwi reactors built to test nuclear rocket principles in a non-flying nuclear engine. The next phase, NERVA, would create an entire flyable engine. The AEC was responsible for designing the nuclear reactor and overall engine. NASA Lewis was responsible for developing the liquid-hydrogen fuel system. The nuclear rocket model in this photograph includes a reactor at the far right with a hydrogen propellant tank and large radiator below. The payload or crew would be at the far left, distanced from the reactor.

  17. Binary optimization for source localization in the inverse problem of ECG.

    PubMed

    Potyagaylo, Danila; Cortés, Elisenda Gil; Schulze, Walther H W; Dössel, Olaf

    2014-09-01

    The goal of ECG-imaging (ECGI) is to reconstruct heart electrical activity from body surface potential maps. The problem is ill-posed, which means that it is extremely sensitive to measurement and modeling errors. The most commonly used method to tackle this obstacle is Tikhonov regularization, which consists in converting the original problem into a well-posed one by adding a penalty term. The method, despite all its practical advantages, has however a serious drawback: The obtained solution is often over-smoothed, which can hinder precise clinical diagnosis and treatment planning. In this paper, we apply a binary optimization approach to the transmembrane voltage (TMV)-based problem. For this, we assume the TMV to take two possible values according to a heart abnormality under consideration. In this work, we investigate the localization of simulated ischemic areas and ectopic foci and one clinical infarction case. This affects only the choice of the binary values, while the core of the algorithms remains the same, making the approximation easily adjustable to the application needs. Two methods, a hybrid metaheuristic approach and the difference of convex functions (DC), algorithm were tested. For this purpose, we performed realistic heart simulations for a complex thorax model and applied the proposed techniques to the obtained ECG signals. Both methods enabled localization of the areas of interest, hence showing their potential for application in ECGI. For the metaheuristic algorithm, it was necessary to subdivide the heart into regions in order to obtain a stable solution unsusceptible to the errors, while the analytical DC scheme can be efficiently applied for higher dimensional problems. With the DC method, we also successfully reconstructed the activation pattern and origin of a simulated extrasystole. In addition, the DC algorithm enables iterative adjustment of binary values ensuring robust performance.

  18. STS-30 crewmembers pose for informal portrait on JSC FB-SMS middeck

    NASA Image and Video Library

    1988-11-15

    S88-52187 (22 Nov 1988) --- Five astronauts pause from their training schedule to pose for a photograph. Pictured, left to right, are astronauts David M. Walker, mission commander; Mark C. Lee, Mary L. Cleave, Ronald J. Grabe and Norman E. Thagard. They are on the middeck section of the Shuttle mission simulator (fixed base) in the Johnson Space Center's mission simulation and training facility.

  19. Crew poses near the Node 1/Unity insignia collection during Expedition 13

    NASA Image and Video Library

    2006-09-04

    ISS013-E-75815 (4 Sept. 2006) --- Astronaut Jeffrey N. Williams (left), Expedition 13 NASA space station science officer and flight engineer; European Space Agency (ESA) astronaut Thomas Reiter, flight engineer; and cosmonaut Pavel V. Vinogradov, commander representing Russia's Federal Space Agency, pose for a photo near the Unity node's growing collection of insignias representing crews who have lived and worked on the International Space Station.

  20. Regularization Reconstruction Method for Imaging Problems in Electrical Capacitance Tomography

    NASA Astrophysics Data System (ADS)

    Chu, Pan; Lei, Jing

    2017-11-01

    The electrical capacitance tomography (ECT) is deemed to be a powerful visualization measurement technique for the parametric measurement in a multiphase flow system. The inversion task in the ECT technology is an ill-posed inverse problem, and seeking for an efficient numerical method to improve the precision of the reconstruction images is important for practical measurements. By the introduction of the Tikhonov regularization (TR) methodology, in this paper a loss function that emphasizes the robustness of the estimation and the low rank property of the imaging targets is put forward to convert the solution of the inverse problem in the ECT reconstruction task into a minimization problem. Inspired by the split Bregman (SB) algorithm, an iteration scheme is developed for solving the proposed loss function. Numerical experiment results validate that the proposed inversion method not only reconstructs the fine structures of the imaging targets, but also improves the robustness.

  1. An Automated Solution of the Low-Thrust Interplanetary Trajectory Problem

    NASA Technical Reports Server (NTRS)

    Englander, Jacob A.; Conway, Bruce

    2016-01-01

    Preliminary design of low-thrust interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed, and in some cases the final destination. In addition, a time-history of control variables must be chosen that defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated, which can be a very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very desirable. This work presents such an approach by posing the mission design problem as a hybrid optimal control problem. The method is demonstrated on hypothetical missions to Mercury, the main asteroid belt, and Pluto.

  2. An Automated Solution of the Low-Thrust Interplanetary Trajectory Problem.

    PubMed

    Englander, Jacob A; Conway, Bruce A

    2017-01-01

    Preliminary design of low-thrust interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed, and in some cases the final destination. In addition, a time-history of control variables must be chosen that defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated, which can be a very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very desirable. This work presents such an approach by posing the mission design problem as a hybrid optimal control problem. The method is demonstrated on hypothetical missions to Mercury, the main asteroid belt, and Pluto.

  3. Dr. David Brown poses with a portrait of Ronald McNair

    NASA Technical Reports Server (NTRS)

    1999-01-01

    In the gymnasium of Ronald McNair Magnet School in Cocoa, Fla., Dr. David Brown, a NASA astronaut, poses with a portrait of NASA astronaut Ronald McNair. The portrait was presented to the school by Walt Disney World during a tribute to McNair. The school had previously been renamed for the fallen astronaut who was one of a crew of seven who lost their lives during an accident following launch of the Space Shuttle Challenger in January 1986.

  4. Expedition-8 Flight Members Pose Inside the Soyuz TMA-3 Vehicle

    NASA Technical Reports Server (NTRS)

    2003-01-01

    Posed inside the Soyuz TMA-3 Vehicle in a processing facility at the Baikonur Cosmodrome in Kazakhstan during a pre-launch inspection are (left to right): Expedition-8 Crew members, Michael C. Foale, Mission Commander and NASA ISS Science Officer; Cosmonaut Alexander Y. Kaleri, Soyuz Commander and flight engineer; and European Space Agency (ESA) astronaut Pedro Duque of Spain. The three launched from the Cosmodrome on October 18, 2003 onboard a Soyuz rocket destined for the International Space Station (ISS).

  5. Evidence-Informed, Individual Treatment of a Child with Sexual Behavior Problems: A Case Study.

    PubMed

    Allen, Brian; Berliner, Lucy

    2015-11-01

    Children with sexual behavior problems pose a significant challenge for community-based mental health clinicians. Very few clinical trials are available to guide intervention and those interventions that are available are based in a group format. The current case study demonstrates the application of evidence-informed treatment techniques during the individual treatment of a 10-year-old boy displaying interpersonal sexual behavior problems. Specifically, the clinician adapts and implements a group-based model developed and tested by Bonner et al. (1999) for use with an individual child and his caregivers. Key points of the case study are discussed within the context of implementing evidence-informed treatments for children with sexual behavior problems.

  6. Hessian Schatten-norm regularization for linear inverse problems.

    PubMed

    Lefkimmiatis, Stamatios; Ward, John Paul; Unser, Michael

    2013-05-01

    We introduce a novel family of invariant, convex, and non-quadratic functionals that we employ to derive regularized solutions of ill-posed linear inverse imaging problems. The proposed regularizers involve the Schatten norms of the Hessian matrix, which are computed at every pixel of the image. They can be viewed as second-order extensions of the popular total-variation (TV) semi-norm since they satisfy the same invariance properties. Meanwhile, by taking advantage of second-order derivatives, they avoid the staircase effect, a common artifact of TV-based reconstructions, and perform well for a wide range of applications. To solve the corresponding optimization problems, we propose an algorithm that is based on a primal-dual formulation. A fundamental ingredient of this algorithm is the projection of matrices onto Schatten norm balls of arbitrary radius. This operation is performed efficiently based on a direct link we provide between vector projections onto lq norm balls and matrix projections onto Schatten norm balls. Finally, we demonstrate the effectiveness of the proposed methods through experimental results on several inverse imaging problems with real and simulated data.

  7. Convex Relaxation For Hard Problem In Data Mining And Sensor Localization

    DTIC Science & Technology

    2017-04-13

    Drusvyatskiy, S.A. Vavasis, and H. Wolkowicz. Extreme point in- equalities and geometry of the rank sparsity ball. Math . Program., 152(1-2, Ser. A...521–544, 2015. [3] M-H. Lin and H. Wolkowicz. Hiroshima’s theorem and matrix norm inequalities. Acta Sci. Math . (Szeged), 81(1-2):45–53, 2015. [4] D...9867-4. [8] D. Drusvyatskiy, G. Li, and H. Wolkowicz. Alternating projections for ill-posed semidenite feasibility problems. Math . Program., 2016

  8. Explanation, motivation and question posing routines in university mathematics teachers' pedagogical discourse: a commognitive analysis

    NASA Astrophysics Data System (ADS)

    Viirman, Olov

    2015-11-01

    This paper investigates the teaching practices used by university mathematics teachers when lecturing, a topic within university mathematics education research which is gaining an increasing interest. In the study, a view of mathematics teaching as a discursive practice is taken, and Sfard's commognitive framework is used to investigate the teaching practices of seven Swedish university mathematics teachers on the topic of functions. The present paper looks at the discourse of mathematics teaching, presenting a categorization of the didactical routines into three categories - explanation, motivation and question posing routines. All of these are present in the discourses of all seven teachers, but within these general categories, a number of different sub-categories of routines are found, used in different ways and to different extent by the various teachers. The explanation routines include known mathematical facts, summary and repetition, different representations, everyday language, and concretization and metaphor; the motivation routines include reference to utility, the nature of mathematics, humour and result focus; and the question posing routines include control questions, asking for facts, enquiries and rhetorical questions. This categorization of question posing routines, for instance, complements those already found in the literature. In addition to providing a valuable insight into the teaching of functions at the university level, the categorizations presented in the study can also be useful for investigating the teaching of other mathematical topics.

  9. Discrete optimal control approach to a four-dimensional guidance problem near terminal areas

    NASA Technical Reports Server (NTRS)

    Nagarajan, N.

    1974-01-01

    Description of a computer-oriented technique to generate the necessary control inputs to guide an aircraft in a given time from a given initial state to a prescribed final state subject to the constraints on airspeed, acceleration, and pitch and bank angles of the aircraft. A discrete-time mathematical model requiring five state variables and three control variables is obtained, assuming steady wind and zero sideslip. The guidance problem is posed as a discrete nonlinear optimal control problem with a cost functional of Bolza form. A solution technique for the control problem is investigated, and numerical examples are presented. It is believed that this approach should prove to be useful in automated air traffic control schemes near large terminal areas.

  10. Astronaut David Brown poses with ComBBat team

    NASA Technical Reports Server (NTRS)

    2000-01-01

    Astronaut David Brown poses with members of the team known as ComBBat, representing Central Florida's Astronaut and Titusville high schools. ComBBat was teamed with Boeing at KSC and Brevard Community College. Students from all over the country are at the KSC Visitor Complex for the FIRST (For Inspiration and Recognition of Science and Technology) Southeast Regional competition being held March 9-11 in the Rocket Garden. Teams of high school students are testing the limits of their imagination using robots they have designed, with the support of business and engineering professionals and corporate sponsors, to compete in a technological battle against other schools' robots. Of the 30 high school teams competing, 16 are Florida teams co-sponsored by NASA and KSC contractors. Local high schools participating are Astronaut, Bayside, Cocoa Beach, Eau Gallie, Melbourne, Melbourne Central Catholic, Palm Bay, Rockledge, Satellite, and Titusville.

  11. STS-106 crew poses for photos after landing

    NASA Technical Reports Server (NTRS)

    2000-01-01

    The STS-106 crew poses for a photograph after a successful mission and landing. Standing, left to right, are Mission Specialists Yuri I. Malenchenko, Boris V. Morukov, Daniel C. Burbank and Richard A. Mastracchio; Pilot Scott D. Altman; Mission Specialist Edward T. Lu; and Commander Terrence W. Wilcutt. Main gear touchdown occurred on-time at 3:56:48 a.m. EDT. Atlantis and crew traveled 4.9 million miles on the 11-day, 19-hour, 11-minute STS-106 mission. During the mission to the International Space Station, the crew transferred nearly 5,000 pounds of equipment and supplies for use by the first resident crew expected to arrive in November. STS-106 was the 99th flight in the Shuttle program and the 22nd for Atlantis. STS-106 also marked the 15th nighttime landing in Shuttle history and the 23rd consecutive landing at KSC.

  12. 21 CFR 740.18 - Coal tar hair dyes posing a risk of cancer.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 21 Food and Drugs 7 2012-04-01 2012-04-01 false Coal tar hair dyes posing a risk of cancer. 740.18... (CONTINUED) COSMETICS COSMETIC PRODUCT WARNING STATEMENTS Warning Statements § 740.18 Coal tar hair dyes... coal tar hair dye containing any ingredient listed in paragraph (b) of this section shall bear, in...

  13. D3R Grand Challenge 2015: Evaluation of Protein-Ligand Pose and Affinity Predictions

    PubMed Central

    Gathiaka, Symon; Liu, Shuai; Chiu, Michael; Yang, Huanwang; Stuckey, Jeanne A; Kang, You Na; Delproposto, Jim; Kubish, Ginger; Dunbar, James B.; Carlson, Heather A.; Burley, Stephen K.; Walters, W. Patrick; Amaro, Rommie E.; Feher, Victoria A.; Gilson, Michael K.

    2017-01-01

    The Drug Design Data Resource (D3R) ran Grand Challenge 2015 between September 2015 and February 2016. Two targets served as the framework to test community docking and scoring methods: (i) HSP90, donated by AbbVie and the Community Structure Activity Resource (CSAR), and (ii) MAP4K4, donated by Genentech. The challenges for both target datasets were conducted in two stages, with the first stage testing pose predictions and the capacity to rank compounds by affinity with minimal structural data; and the second stage testing methods for ranking compounds with knowledge of at least a subset of the ligand-protein poses. An additional sub-challenge provided small groups of chemically similar HSP90 compounds amenable to alchemical calculations of relative binding free energy. Unlike previous blinded Challenges, we did not provide cognate receptors or receptors prepared with hydrogens and likewise did not require a specified crystal structure to be used for pose or affinity prediction in Stage 1. Given the freedom to select from over 200 crystal structures of HSP90 in the PDB, participants employed workflows that tested not only core docking and scoring technologies, but also methods for addressing water-mediated ligand-protein interactions, binding pocket flexibility, and the optimal selection of protein structures for use in docking calculations. Nearly 40 participating groups submitted over 350 prediction sets for Grand Challenge 2015. This overview describes the datasets and the organization of the challenge components, summarizes the results across all submitted predictions, and considers broad conclusions that may be drawn from this collaborative community endeavor. PMID:27696240

  14. An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation

    PubMed Central

    He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

    2015-01-01

    Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions. PMID:26184191

  15. Segmentation, classification, and pose estimation of military vehicles in low resolution laser radar images

    NASA Astrophysics Data System (ADS)

    Neulist, Joerg; Armbruster, Walter

    2005-05-01

    Model-based object recognition in range imagery typically involves matching the image data to the expected model data for each feasible model and pose hypothesis. Since the matching procedure is computationally expensive, the key to efficient object recognition is the reduction of the set of feasible hypotheses. This is particularly important for military vehicles, which may consist of several large moving parts such as the hull, turret, and gun of a tank, and hence require an eight or higher dimensional pose space to be searched. The presented paper outlines techniques for reducing the set of feasible hypotheses based on an estimation of target dimensions and orientation. Furthermore, the presence of a turret and a main gun and their orientations are determined. The vehicle parts dimensions as well as their error estimates restrict the number of model hypotheses whereas the position and orientation estimates and their error bounds reduce the number of pose hypotheses needing to be verified. The techniques are applied to several hundred laser radar images of eight different military vehicles with various part classifications and orientations. On-target resolution in azimuth, elevation and range is about 30 cm. The range images contain up to 20% dropouts due to atmospheric absorption. Additionally some target retro-reflectors produce outliers due to signal crosstalk. The presented algorithms are extremely robust with respect to these and other error sources. The hypothesis space for hull orientation is reduced to about 5 degrees as is the error for turret rotation and gun elevation, provided the main gun is visible.

  16. D3R grand challenge 2015: Evaluation of protein-ligand pose and affinity predictions

    NASA Astrophysics Data System (ADS)

    Gathiaka, Symon; Liu, Shuai; Chiu, Michael; Yang, Huanwang; Stuckey, Jeanne A.; Kang, You Na; Delproposto, Jim; Kubish, Ginger; Dunbar, James B.; Carlson, Heather A.; Burley, Stephen K.; Walters, W. Patrick; Amaro, Rommie E.; Feher, Victoria A.; Gilson, Michael K.

    2016-09-01

    The Drug Design Data Resource (D3R) ran Grand Challenge 2015 between September 2015 and February 2016. Two targets served as the framework to test community docking and scoring methods: (1) HSP90, donated by AbbVie and the Community Structure Activity Resource (CSAR), and (2) MAP4K4, donated by Genentech. The challenges for both target datasets were conducted in two stages, with the first stage testing pose predictions and the capacity to rank compounds by affinity with minimal structural data; and the second stage testing methods for ranking compounds with knowledge of at least a subset of the ligand-protein poses. An additional sub-challenge provided small groups of chemically similar HSP90 compounds amenable to alchemical calculations of relative binding free energy. Unlike previous blinded Challenges, we did not provide cognate receptors or receptors prepared with hydrogens and likewise did not require a specified crystal structure to be used for pose or affinity prediction in Stage 1. Given the freedom to select from over 200 crystal structures of HSP90 in the PDB, participants employed workflows that tested not only core docking and scoring technologies, but also methods for addressing water-mediated ligand-protein interactions, binding pocket flexibility, and the optimal selection of protein structures for use in docking calculations. Nearly 40 participating groups submitted over 350 prediction sets for Grand Challenge 2015. This overview describes the datasets and the organization of the challenge components, summarizes the results across all submitted predictions, and considers broad conclusions that may be drawn from this collaborative community endeavor.

  17. An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation.

    PubMed

    He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

    2015-07-08

    Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions.

  18. Mrs. Chandrasekhar poses with model of the Chandra X-ray Observatory

    NASA Technical Reports Server (NTRS)

    1999-01-01

    Mrs. Lalitha Chandrasekhar, wife of the late Indian-American Nobel Laureate Subrahmanyan Chandrasekhar, poses with a model of the Chandra X-ray Observatory in the TRW Media Hospitality Tent at the NASA Press Site at KSC. The name 'Chandra,' a shortened version of Chandrasekhar's name which he preferred among friends and colleagues, was chosen in a contest to rename the telescope. 'Chandra' also means 'Moon' or 'luminous' in Sanskrit. The observatory is scheduled to be launched aboard Columbia on Space Shuttle mission STS-93.

  19. Problem Posing in Leadership Education: Using Case Study to Foster More Effective Problem Solving

    ERIC Educational Resources Information Center

    Myran, Steve; Sutherland, Ian

    2016-01-01

    This case explores Crabapple Middle, a struggling urban school in the midst of a transition that seeks new leadership that can overcome the challenges of two sub-cultures that divide the school and community. In an effort to address issues of low academic performance and negative community perception, an International Baccalaureate magnet program…

  20. Collaborative Systems and Multi-user Interfaces: Computer-based Tools for Cooperative Problem Solving

    DTIC Science & Technology

    1986-10-31

    Reference Card Given to Participants) Cognoter Reference Select = LeftButton Menu = MiddleButton TitleBar menu for tool operations Item menu for item...collaborative tools and their uses, the Colab system and the Cognoter presentation tool were implemented and used for both real and posed idea organization...tasks. To test the system design and its effect on structured problem-solving, many early Colab/ Cognoter meetings were monitored and a series of