WorldWideScience

Sample records for autonomous real-time tracking

  1. Vision-based real-time obstacle detection and tracking for autonomous vehicle guidance

    Science.gov (United States)

    Yang, Ming; Yu, Qian; Wang, Hong; Zhang, Bo

    2002-03-01

    The ability of obstacles detection and tracking is essential for safe visual guidance of autonomous vehicles, especially in urban environments. In this paper, we first overview different plane projective transformation (PPT) based obstacle detection approaches under the planar ground assumption. Then, we give a simple proof of this approach with relative affine, a unified framework that includes the Euclidean, projective and affine frameworks by generalization and specialization. Next, we present a real-time hybrid obstacle detection method, which combined the PPT based method with the region segmentation based method to provide more accurate locations of obstacles. At last, with the vehicle's position information, a Kalman Filter is applied to track obstacles from frame to frame. This method has been tested on THMR-V (Tsinghua Mobile Robot V). Through various experiments we successfully demonstrate its real-time performance, high accuracy, and high robustness.

  2. XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker.

    Science.gov (United States)

    Viman, Liviu; Daraban, Mihai; Fizesan, Raul; Iuonas, Mircea

    2016-01-01

    This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet. PMID:26978360

  3. Autonomous Real Time Requirements Tracing

    Science.gov (United States)

    Plattsmier, George; Stetson, Howard

    2014-01-01

    One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the

  4. Real Time Eye Tracking in Unconstrained Environments

    Directory of Open Access Journals (Sweden)

    Majid Tajeri

    2012-07-01

    Full Text Available In this paper, an effective method for human eye tracking and also decreasing the current challenges and problems in its algorithms, possibly as real time and for unconstrained environments has been proposed. In this method, firstly face has been detected and segmented from the remaining parts to make the searching area in tracking stage, narrower and processing speed higher. Then eye area is determined and eye pupils are detected in the specified area. In the proposed method, to support tracking in eye occlusion state, corner detection has been additionally used. Experimental results show the potential of this method for real time eye tracking in unconstrained environments with existence of complex background, head and face rotation, beard, makeup, eye glasses and veil, even while the eyes are closed. The correct recognition rate of the proposed method is about 91.9%.

  5. Hard-real-time resource management for autonomous spacecraft

    Science.gov (United States)

    Gat, E.

    2000-01-01

    This paper describes tickets, a computational mechanism for hard-real-time autonomous resource management. Autonomous spacecraftcontrol can be considered abstractly as a computational process whose outputs are spacecraft commands.

  6. A Real-Time Autonomous Navigation Architecture

    OpenAIRE

    Chen, Gang; Fraichard, Thierry; Martinez-Gomez, Luis

    2007-01-01

    This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known and highly dynamic with moving objects (other vehicles, pedestrians...). The main feature of the navigation architecture proposed is its ability to make safe motion decisions in real-time, thus taking into account the harsh constraints imposed by the type of environments considered. The architectur...

  7. Real Time Eye Template Detection and Tracking

    Directory of Open Access Journals (Sweden)

    Richa Mehta

    2012-06-01

    Full Text Available There has been a growing interest in the field of facial expression recognition especially in the last two decades. An example of such a system is the improvement of driver carefulness and accident reduction. The driver’s face is tracked while he is driving and he is warned if there seems to be an alerting fact that can result in an accident such as sleepy eyes, or looking out of the road. Furthermore, with a facial feature tracker, it becomes possible to play a synthesized avatar so that it imitates the expressions of the performer. Human-Computer Interaction (HCI systems may also be enriched by a facial feature tracker. For a user who is incapable of using her hands, a facial expression controller may be a solution to send limited commands to a computer. Eye blinking is one of the prominent areas to solve many real world problems. The process of blink detection consists of two phases. These are eye tracking followed by detection of blink. The work that has been carried out for eye tracking only is not suitable for eye blink detection. Therefore some approaches had been proposed for eye tracking along with eyes blink detection. In this thesis, real time implementation is done to count number of eye blinks in an image sequence. At last after analyzing all these approaches some of the parameters we obtained on which better performance of eye blink detection algorithm depend. This project focuses on automatic eye blink detection in real time. The aim of this thesis is to count the number of eye blinks in a video. This project will be performed on a video database of the facial expressions.

  8. Printed Tag Real-time Tracking

    KAUST Repository

    Bilal, Rana M.

    2014-09-18

    Disclosed are various embodiments for monitoring tracking devices capable of seamless indoor and outdoor tracking transitions. A tracking device may comprise, for example, printable circuitry and antennas combined with one or more receivers/transceivers on a substrate. The tracking device may be configured, for example, to localize the tracking device via GPS or an alternative localization strategy based on a determination of whether GPS communication is available. A modified RSSI fingerprinting methodology may be used to accurately determine a location of the tracking device using Wi-Fi access points. A device monitoring service may communicate with internal and/or external mapping API\\'s to render a device monitoring user interface comprising a visual representation of the location of the tracking device.

  9. Real-time logo detection and tracking in video

    Science.gov (United States)

    George, M.; Kehtarnavaz, N.; Rahman, M.; Carlsohn, M.

    2010-05-01

    This paper presents a real-time implementation of a logo detection and tracking algorithm in video. The motivation of this work stems from applications on smart phones that require the detection of logos in real-time. For example, one application involves detecting company logos so that customers can easily get special offers in real-time. This algorithm uses a hybrid approach by initially running the Scale Invariant Feature Transform (SIFT) algorithm on the first frame in order to obtain the logo location and then by using an online calibration of color within the SIFT detected area in order to detect and track the logo in subsequent frames in a time efficient manner. The results obtained indicate that this hybrid approach allows robust logo detection and tracking to be achieved in real-time.

  10. Continuous focus tracking for real-time optical coherence tomography

    Science.gov (United States)

    Cobb, Michael J.; Liu, Xiumei; Li, Xingde

    2005-07-01

    We report an approach to achieving continuous focus tracking and a depth-independent transverse resolution for real-time optical coherence tomography (OCT) imaging. Continuous real-time focus tracking is permitted by use of a lateral-priority image acquisition sequence in which the depth-scanning rate is equivalent to the imaging frame rate. Real-time OCT imaging with continuous focus tracking is performed at 1 frame/s by reciprocal translation of a rapid lateral-scanning miniature imaging probe (e.g., an endoscope). The optical path length in the reference arm is scanned synchronously to ensure that the coherence gate coincides with the imaging beam focus. The image quality improvement is experimentally demonstrated by imaging a tissue phantom embedded with polystyrene microspheres and rabbit esophageal tissues.

  11. Real-time multipoint gastrointestinal 19-fluorine catheter tracking

    OpenAIRE

    Hahn, Tobias; Kozerke, Sebastian; Schwizer, Werner; Fried, Michael; Boesiger, Peter; Steingoetter, Andreas

    2014-01-01

    PURPOSE: To develop MR based real-time gastrointestinal 19-Fluorine (19F) catheter tracking and visualization allowing for real-time detection and feedback of 3D catheter shape and movement as well as catheter-driven adjustments of 1H imaging geometry parameters. METHODS: Data were acquired on a 3T clinical system using 3D Golden Angle radial sampling. Two gastrointestinal catheters incorporating four fiducial 19F markers (65 or 50 µL marker volume) were tracked while being pulled through ...

  12. Dual Tracking Method for Real Time Object Tracking using Moving Camera

    OpenAIRE

    Shyam Lal; Rahul Kumar

    2013-01-01

    This study presents dual tracking method for real time object tracking using a moving camera. A real time object tracking using self aligning servo mechanism with webcam, dual tracking and effective localization of object is presented. The proposed dual tracking method works in two phases: In first phase tracking is done by joint color texture histogram with mean shift and in second phase tracking is done by servo setup. The proposed dual tracking method enjoys the benefit of double tracking ...

  13. Robust Real-Time Tracking for Visual Surveillance

    Directory of Open Access Journals (Sweden)

    Martin Kampel

    2007-01-01

    Full Text Available This paper describes a real-time multi-camera surveillance system that can be applied to a range of application domains. This integrated system is designed to observe crowded scenes and has mechanisms to improve tracking of objects that are in close proximity. The four component modules described in this paper are (i motion detection using a layered background model, (ii object tracking based on local appearance, (iii hierarchical object recognition, and (iv fused multisensor object tracking using multiple features and geometric constraints. This integrated approach to complex scene tracking is validated against a number of representative real-world scenarios to show that robust, real-time analysis can be performed.

  14. Real-time tracking of moving objects by optical correlation.

    Science.gov (United States)

    Gara, A D

    1979-01-15

    A low-contrast diffusely scattering object was identified and tracked in real-time by coherent optical correlation. The coherent input image is generated with a liquid crystal incoherent-to-coherent image transducer. A cast iron connecting rod (the test object) was tracked with an accuracy of 1 part in 130 over a 0.6-m distance while traveling at speeds up to 0.25 m/sec. PMID:20208682

  15. Kalman filters for real-time magnetic island phase tracking

    International Nuclear Information System (INIS)

    Highlights: • We propose two Kalman filters for tracking of NTMs on ASDEX Upgrade. • The Kalman filters can track NTMs in a much larger frequency range than PLLs. • The filters are tested on synthetic and experimental data from TEXTOR and TCV. • We conclude that the unscented Kalman filter can be useful for NTM control. -- Abstract: For control of neoclassical tearing modes (NTMs) and the resulting rotating magnetic islands in tokamak plasmas, the frequency and phase of the magnetic islands need to be accurately tracked in real-time. In previous experiments on TEXTOR, this was achieved using a phase-locked loop (PLL). For ASDEX Upgrade however, the desired frequency range in which the islands are to be tracked (100 Hz–10 kHz) is much larger than is possible with a PLL. In this contribution, an extended Kalman filter (EKF) and an unscented Kalman filter (UKF) are proposed for real-time frequency, phase and amplitude tracking of sinusoidal signals, based on noisy measurements. Compared to PLLs, the EKF and UKF are able to track sinusoidal signals in a much larger frequency range. The filters are applied on synthetic data and on experimental data from the TEXTOR and TCV tokamaks, from which we conclude that the UKF can be useful for real-time control of magnetic islands on ASDEX Upgrade

  16. Real-time path planning and autonomous control for helicopter autorotation

    Science.gov (United States)

    Yomchinda, Thanan

    Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

  17. A low-cost test-bed for real-time landmark tracking

    Science.gov (United States)

    Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

    2007-04-01

    A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

  18. Close to real-time robust pedestrian detection and tracking

    Science.gov (United States)

    Lipetski, Y.; Loibner, G.; Sidla, O.

    2015-03-01

    Fully automated video based pedestrian detection and tracking is a challenging task with many practical and important applications. We present our work aimed to allow robust and simultaneously close to real-time tracking of pedestrians. The presented approach is stable to occlusions, lighting conditions and is generalized to be applied on arbitrary video data. The core tracking approach is built upon tracking-by-detections principle. We describe our cascaded HOG detector with successive CNN verification in detail. For the tracking and re-identification task, we did an extensive analysis of appearance based features as well as their combinations. The tracker was tested on many hours of video data for different scenarios; the results are presented and discussed.

  19. Fusion of perceptual processes for real-time object tracking

    OpenAIRE

    Jüngling, Kai; Arens, Michael; Hanheide, Marc; Sagerer, Gerhard

    2008-01-01

    This paper introduces a generic architecture for the fusion of perceptual processes and its application in real-time object tracking. In this architecture, the well known anchoring approach is, by integrating techniques from information fusion, extended to multi-modal anchoring so as to be applicable in a multi-process environment. The system architecture is designed to be applicable in a generic way, independent of specific application domains and of the characteristics of the underlying sen...

  20. A simple fuzzy logic real-time camera tracking system

    Science.gov (United States)

    Magee, Kevin N.; Cheatham, John B., Jr.

    1993-01-01

    A fuzzy logic control of camera pan and tilt has been implemented to provide real-time camera tracking of a moving object. The user clicks a mouse button to identify the object that is to be tracked. A rapid centroid estimation algorithm is used to estimate the location of the moving object, and based on simple fuzzy membership functions, fuzzy x and y values are input into a six-rule fuzzy logic rule base. The output of this system is de-fuzzified to provide pan and tilt velocities required to keep the image of the object approximately centered in the camera field of view.

  1. A paper based inkjet printed real time location tracking TAG

    KAUST Repository

    Farooqui, Muhammad Fahad

    2013-06-01

    This paper presents, for the first time, an inkjet printed, wearable, low-cost, light weight and miniaturized real time locating TAG on an ordinary photo-paper. The 29 grams, 9 cm×8 cm×0.5 cm TAG integrates a GPS/GSM module, a microcontroller with on-paper GPS and GSM antennas. A novel monopole antenna with an L shaped slit is introduced to achieve the required circular polarization for the GPS band. Issues related to integration of active components (e.g. BGA chip) on inkjet-printed paper substrates are discussed. The system enables location tracking through a user-friendly interface accessible through all internet enabled devices. Field tests show an update interval of 15 sec, stationary position error of 6.2m and real time tracking error of 4.7m which is 4 times better than the state-of-the-art. Due to the flexible nature of the paper substrate, the TAG can be designed for different shapes such as a wrist band for child tracking or a collar band for pet tracking applications. © 2013 IEEE.

  2. The Fast Tracker Real Time Processor: high quality real-time tracking at ATLAS

    CERN Document Server

    Stabile, A; The ATLAS collaboration

    2011-01-01

    As the LHC luminosity is ramped up to the design level of 1x1034 cm−2 s−1 and beyond, the high rates, multiplicities, and energies of particles seen by the detectors will pose a unique challenge. Only a tiny fraction of the produced collisions can be stored on tape and immense real-time data reduction is needed. An effective trigger system must maintain high trigger efficiencies for the most important physics and at the same time suppress the enormous QCD backgrounds. This requires massive computing power to minimize the online execution time of complex algorithms. A multi-level trigger is an effective solution for an otherwise impossible problem. The Fast Tracker (FTK)[1], [2] is a proposed upgrade to the current ATLAS trigger system that will operate at full Level-1 output rates and provide high quality tracks reconstructed over the entire detector by the start of processing in Level-2. FTK is a dedicated Super Computer based on a mixture of advanced technologies. The architecture broadly employs powerf...

  3. Real Time Object Tracking using FPGA Development Kit

    Directory of Open Access Journals (Sweden)

    Muhammad Tayyab

    2014-10-01

    Full Text Available The main idea of this work is object tracking using real time video processing. For this purpose we designed an embedded system that performs the object tracking algorithm for accurate tracking of defined object. The theme may be implemented for the security companies, sports and the armed forces to make them more equipped and advanced. The heart of the system is a Field Programmable Gate Arrays development kit. It controls the whole system by receiving the video signal from camera, processes it and sends the video signal to the Liquid Crystal Display or monitor. After receiving video of intended object, target selection is performed to select the target to track and then the tracking algorithm is implemented using image processing algorithms implemented using Field Programmable Gate Arrays development kit. We also interfaced the DC gear motor to control the movement of the camera in order to track the selected object. In order to design the standalone application we transformed our algorithm in Field Programmable Gate Array kit.

  4. 2010 winter games tracks energy in real time

    Energy Technology Data Exchange (ETDEWEB)

    Anon.

    2010-01-15

    An online energy tracker was developed by BC Hydro to publicly monitor the real-time energy consumption at the Vancouver 2010 Olympic winter game sites within Vancouver, Richmond, Whistler and Whistler Blackcomb. The venues and associated sites participating in the live energy tracking project were the Richmond Olympic Oval, Canada Hockey Place, Vancouver Olympic/Paralympic Centre, South East False Creek Community Centre, Whistler Blackcomb Roundhouse Lodge and snowmaking facilities, and the Olympic and Paralympic Villages. The system was developed to allow venue managers to optimize their use of electricity on an hourly and daily basis. An energy tracking display board developed by Pulse Energy enabled them to compare their performance to similar facilities in real time, and to determine the greenhouse gas savings achieved as result of building and operating practices. Some venues had the potential to save as much as 15 to 20 per cent in energy costs with corresponding reductions in carbon emissions. Efficiency and conservation was built into the design of many new venues. The retrofits made to several existing buildings will continue to contribute to British Columbia's conservation goals long after the 2010 winter games are over.

  5. Real-Time Depth-Based Hand Detection and Tracking

    Directory of Open Access Journals (Sweden)

    Sung-Il Joo

    2014-01-01

    Full Text Available This paper illustrates the hand detection and tracking method that operates in real time on depth data. To detect a hand region, we propose the classifier that combines a boosting and a cascade structure. The classifier uses the features of depth-difference at the stage of detection as well as learning. The features of each candidate segment are to be computed by subtracting the averages of depth values of subblocks from the central depth value of the segment. The features are selectively employed according to their discriminating power when constructing the classifier. To predict a hand region in a successive frame, a seed point in the next frame is to be determined. Starting from the seed point, a region growing scheme is applied to obtain a hand region. To determine the central point of a hand, we propose the so-called Depth Adaptive Mean Shift algorithm. DAM-Shift is a variant of CAM-Shift (Bradski, 1998, where the size of the search disk varies according to the depth of a hand. We have evaluated the proposed hand detection and tracking algorithm by comparing it against the existing AdaBoost (Friedman et al., 2000 qualitatively and quantitatively. We have analyzed the tracking accuracy through performance tests in various situations.

  6. A real time autonomous underwater vehicle Dynamic Simulator

    OpenAIRE

    Jurewicz, Thomas A.

    1990-01-01

    The NPS Autonomous Underwater Vehicle Simulator is a joint project between the Naval Postgraduate School's Mechanical Engineering and Computer Science Departments. In order to test mission planning and execution software, an accurate vehicle dynamic model is required. Using dynamics based upon the Navy's Swimmer Delivery Vehicle (SDV), there is a need to continually update the hydrodynamic coefficients based upon actual vehicle-in-water testing. The NPS AUV Dynamic Simulator contains a full s...

  7. Dual Tracking Method for Real Time Object Tracking using Moving Camera

    Directory of Open Access Journals (Sweden)

    Shyam Lal

    2013-04-01

    Full Text Available This study presents dual tracking method for real time object tracking using a moving camera. A real time object tracking using self aligning servo mechanism with webcam, dual tracking and effective localization of object is presented. The proposed dual tracking method works in two phases: In first phase tracking is done by joint color texture histogram with mean shift and in second phase tracking is done by servo setup. The proposed dual tracking method enjoys the benefit of double tracking feature, not only tracking but also to find out the coordinates of the tracking object which is of particular interest. The coordinates of a moving object enable us to estimates the real time location of the object which is helpful in surveillance and shooting purposes of suspected person in security area. The tracking of some specific objects in real life is of particular interest. Due to its enhanced automation the proposed dual tracking method can be applied in public security, surveillance, robotics and traffic control etc. The experimental results demonstrate that the proposed dual tracking method improves greatly the tracking area with accuracy and efficiency and also successfully find the coordinates of moving object.

  8. Adaptive, real-time hypoxia measurements using an autonomous boat

    Science.gov (United States)

    Kerkez, B.; Wong, B. P.; Balzano, L.; Lipor, J.; Scavia, D.

    2015-12-01

    We present an autonomous system to measure hypoxia at high spatial resolutions. The approach combines a robotic boat, cloud hosted data services, and a suite of adaptive sampling algorithms to minimize the number of samples required to delineate hypoxic extents. The boat lowers sensors into the water column to provide depth profiles of temperature and oxygen concentrations. An adaptive path-planning algorithm continuously analyzes the in-situ observations and directs the boat to its next measurement location. This significantly reduces number of samples compared to a gridded sampling approach, while simultaneously improving the certainty with which the hypoxic regions are delineated. The method has been evaluated on small lakes throughout Michigan and shows significant promise to scale to the Great Lakes, where hypoxia is common occurrence that adversely affects various stakeholder and ecosystems.

  9. Robust Horizon Finding Algorithm for Real-Time Autonomous Navigation based on Monocular Vision

    OpenAIRE

    Miranda Neto, Arthur; Correa Victorino, Alessandro; Fantoni, Isabelle; Zampieri, Douglas Eduardo

    2011-01-01

    Navigation of an Autonomous Vehicle is based on its interaction with the environment, through information acquired by sensors. The perception of the environment is a major issue in autonomous and (semi)-autonomous systems. This work presents the embedded real-time visual perception problem applied to experimental platform. In this way, a robust horizon finding algorithm that finds the horizon line was proposed and applied to generate the navigable area. It permits to investigate dynamically o...

  10. Real-time tracking of superparamagnetic nanoparticle self-assembly.

    Science.gov (United States)

    Siffalovic, P; Majkova, E; Chitu, L; Jergel, M; Luby, S; Capek, I; Satka, A; Timmann, A; Roth, S V

    2008-12-01

    The spontaneous self-assembly process of superparamagnetic nanoparticles in a fast-drying colloidal drop is observed in real time. The grazing-incidence small-angle X-ray scattering (GISAXS) technique is employed for an in situ tracking of the reciprocal space, with a 3 ms delay time between subsequent frames delivered by a new generation of X-ray cameras. A focused synchrotron beam and sophisticated sample oscillations make it possible to relate the dynamic reciprocal to direct space features and to localize the self-assembly. In particular, no nanoparticle ordering is found inside the evaporating drop and near-surface region down to a drop thickness of 90 microm. Scanning through the shrinking drop-contact line indicates the start of self-assembly near the drop three-phase interface, in accord with theoretical predictions. The results obtained have direct implications for establishing the self-assembly process as a routine technological step in the preparation of new nanostructures. PMID:19003821

  11. A real-time distributed software infrastructure for cooperating mobile autonomous robots

    OpenAIRE

    Frederico Santos; Luis Almeida; Paulo Pedreiras; Luis Seabra Lopes

    2009-01-01

    Cooperating mobile autonomous robots have been generating a growing interest in fields such as rescue, demining and security. These applications require a real time middleware and wireless communication protocol that can effecient and timely support the fusion of the distributed perception and the development of coordinated behaviors. This paper proposes an affordable middleware, based on low-cost and open-source COTS technologies, which relies on a real-time database partially replicated in ...

  12. A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

    Directory of Open Access Journals (Sweden)

    Shaowu Pan

    2015-04-01

    Full Text Available A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT, which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  13. CamOn: A Real-Time Autonomous Camera Control System

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    This demonstration presents CamOn, an autonomous cam- era control system for real-time 3D games. CamOn employs multiple Artificial Potential Fields (APFs), a robot motion planning technique, to control both the location and orienta- tion of the camera. Scene geometry from the 3D environment...

  14. Real Time Detection and Tracking of Spatial Event Clusters

    OpenAIRE

    Andrienko, N; G. Andrienko; Fuchs, G.; Rinzivillo, S.; Betz, H-D.

    2015-01-01

    We demonstrate a system of tools for real-time detection of significant clusters of spatial events and observing their evolution. The tools include an incremental stream clustering algorithm, interactive techniques for controlling its operation, a dynamic map display showing the current situation, and displays for investigating the cluster evolution (time line and space-time cube).

  15. Treatment of shielding in real-time source tracking software.

    Energy Technology Data Exchange (ETDEWEB)

    de la Barrera, S. C.; Klann, R. T.; Vilim, R. B. (Nuclear Engineering Division)

    2011-07-01

    Within the homeland security and emergency response communities, there is a need for a low-profile system to detect, locate, and identify radioactive sources in real time. Such a system could be deployed for area monitoring around venues for special events. A system was developed at Argonne National Laboratory, called RADTRAC, which is based on a network of radiation detectors and advanced signal-processing algorithms. The initial implementation of RADTRAC did not account for dynamically changing shielding due to crowd movements. An algorithm was developed that utilizes the gamma-ray energy spectrum from each detector to estimate the amount of attenuation and scattering that is present between the source location (a priori unknown) and the detector location in real time. The attenuation and scattering estimations are then included in the maximum likelihood model to significantly improve the source localization solution. Results are presented for several test cases showing the improvement in the real-time source localization solution. This algorithm has been implemented into the current version of RADTRAC such that it now accounts for the effects of dynamically changing shielding and scattering due to crowd movements in real time in order to accurately determine the source location in crowded venues.

  16. Treatment of shielding in real-time source tracking software

    International Nuclear Information System (INIS)

    Within the homeland security and emergency response communities, there is a need for a low-profile system to detect, locate, and identify radioactive sources in real time. Such a system could be deployed for area monitoring around venues for special events. A system was developed at Argonne National Laboratory, called RADTRAC, which is based on a network of radiation detectors and advanced signal-processing algorithms. The initial implementation of RADTRAC did not account for dynamically changing shielding due to crowd movements. An algorithm was developed that utilizes the gamma-ray energy spectrum from each detector to estimate the amount of attenuation and scattering that is present between the source location (a priori unknown) and the detector location in real time. The attenuation and scattering estimations are then included in the maximum likelihood model to significantly improve the source localization solution. Results are presented for several test cases showing the improvement in the real-time source localization solution. This algorithm has been implemented into the current version of RADTRAC such that it now accounts for the effects of dynamically changing shielding and scattering due to crowd movements in real time in order to accurately determine the source location in crowded venues.

  17. Autonomous real-time ground ubiquitous surveillance-imaging system (ARGUS-IS)

    Science.gov (United States)

    Leininger, Brian; Edwards, Jonathan; Antoniades, John; Chester, David; Haas, Dan; Liu, Eric; Stevens, Mark; Gershfield, Charlie; Braun, Mike; Targove, James D.; Wein, Steve; Brewer, Paul; Madden, Donald G.; Shafique, Khurram Hassan

    2008-04-01

    Finding, tracking and monitoring events and activities of interest on a continuous basis remains one of our highest Intelligence Surveillance and Reconnaissance (ISR) requirements. Unmanned Aerial Systems (UAS) serve as one of the warfighter's primary and most responsive means for surveillance and gathering intelligence information and are becoming vital assets in military operations. This is demonstrated by their significant use in Afghanistan during Operation Enduring Freedom and in Iraq as part of Operation Iraqi Freedom. Lessons learned from these operations indicate that UAVs provide critical capabilities for enhancing situational awareness, intelligence gathering and force protection for our military forces. Current UAS high resolution electro-optics offers a small high resolution field of view (FOV). This narrow FOV is a limiting factor on the utility of the EO system. The UAS that are available offer persistence; however, the effectiveness of the EO system is limited by the sensors and available processing. DARPA is addressing this developing the next generation of persistent, very wide area surveillance with the Autonomous Real-time Ground Ubiquitous Surveillance - Imaging System (ARGUS-IS). The system will be capable of imaging an area of greater than 40 square kilometers with a Ground Space Distance (GSD) of 15 cm at video rates of greater than 12 Hz. This paper will discuss the elements of the ARGUS-IS program.

  18. Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

    A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

  19. Autonomous global sky monitoring with real-time robotic follow-up

    Energy Technology Data Exchange (ETDEWEB)

    Vestrand, W Thomas [Los Alamos National Laboratory; Davis, H [Los Alamos National Laboratory; Wren, J [Los Alamos National Laboratory; Wozniak, P [Los Alamos National Laboratory; Norman, B [Los Alamos National Laboratory; White, R [Los Alamos National Laboratory; Bloch, J [Los Alamos National Laboratory; Fenimore, E [Los Alamos National Laboratory; Hodge, Barry [AFRL; Jah, Moriba [AFRL; Rast, Richard [AFRL

    2008-01-01

    We discuss the development of prototypes for a global grid of advanced 'thinking' sky sentinels and robotic follow-up telescopes that observe the full night sky to provide real-time monitoring of the night sky by autonomously recognizing anomalous behavior, selecting targets for detailed investigation, and making real-time anomaly detection to enable rapid recognition and a swift response to transients as they emerge. This T3 global EO grid avoids the limitations imposed by geography and weather to provide persistent monitoring of the night sky.

  20. Real Time Surface Registration for PET Motion Tracking

    DEFF Research Database (Denmark)

    Wilm, Jakob; Olesen, Oline Vinter; Paulsen, Rasmus Reinhold; Højgaard, Liselotte; Roed, Bjarne; Larsen, Rasmus

    create point clouds representing parts of the patient's face. The movement is estimated by a rigid registration of the point clouds. The registration should be done using a robust algorithm that can handle partial overlap and ideally operate in real time. We present an optimized Iterative Closest Point......Head movement during high resolution Positron Emission Tomography brain studies causes blur and artifacts in the images. Therefore, attempts are being made to continuously monitor the pose of the head and correct for this movement. Specifically, our method uses a structured light scanner system to...... algorithm that operates at 10 frames per second on partial human face surfaces. © 2011 Springer-Verlag....

  1. Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

    Science.gov (United States)

    Phelps, Geoffrey A.; Ippolito, C.; Lee, R.; Spritzer, R.; Yeh, Y.

    2014-01-01

    The U.S. Geological Survey and the National Aeronautics and Space Administration are cooperatively investigating the utility of unmanned vehicles for near-real-time autonomous surveys of geophysical data collection. Initially focused on unmanned ground vehicle collection of magnetic data, this cooperative effort has brought unmanned surveying, precision guidance, near-real-time communication, on-the-fly data processing, and near-real-time data interpretation into the realm of ground geophysical surveying, all of which offer advantages over current methods of manned collection of ground magnetic data. An unmanned ground vehicle mission has demonstrated that these vehicles can successfully complete missions to collect geophysical data, and add advantages in data collection, processing, and interpretation. We view the current experiment as an initial phase in further unmanned vehicle data-collection missions, including aerial surveying.

  2. Real-Time Particle Tracking for Studying Intracellular Trafficking of Pharmaceutical Nanocarriers

    OpenAIRE

    Huang, Feiran; Watson, Erin; Dempsey, Christopher; Suh, Junghae

    2013-01-01

    Real-time particle tracking is a technique that combines fluorescence microscopy with object tracking and computing and can be used to extract quantitative transport parameters for small particles inside cells. Since the success of a nanocarrier can often be determined by how effectively it delivers cargo to the target organelle, understanding the complex intracellular transport of pharmaceutical nanocarriers is critical. Real-time particle tracking provides insight into the dynamics of the i...

  3. Real Time SLAM Using Compressed Occupancy Grids For a Low Cost Autonomous Underwater Vehicle

    OpenAIRE

    Cain, Christopher Hawthorn

    2014-01-01

    The research presented in this dissertation pertains to the development of a real time SLAM solution that can be performed by a low cost autonomous underwater vehicle equipped with low cost and memory constrained computing resources. The design of a custom rangefinder for underwater applications is presented. The rangefinder makes use of two laser line generators and a camera to measure the unknown distance to objects in an underwater environment. A visual odometry algorithm is...

  4. Dynamic Resource Reservation and Connectivity Tracking to Support Real-Time Communication among Mobile Units

    Directory of Open Access Journals (Sweden)

    Almeida Luis

    2005-01-01

    Full Text Available Wireless communication technology is spreading quickly in almost all the information technology areas as a consequence of a gradual enhancement in quality and security of the communication, together with a decrease in the related costs. This facilitates the development of relatively low-cost teams of autonomous (robotic mobile units that cooperate to achieve a common goal. Providing real-time communication among the team units is highly desirable for guaranteeing a predictable behavior in those applications in which the robots have to operate autonomously in unstructured environments. This paper proposes a MAC protocol for wireless communication that supports dynamic resource reservation and topology management for relatively small networks of cooperative units (10–20 units. The protocol uses a slotted time-triggered medium access transmission control that is collision-free, even in the presence of hidden nodes. The transmissions are scheduled according to the earliest deadline first scheduling policy. An adequate admission control guarantees the timing constraints of the team communication requirements, including when new nodes dynamically join or leave the team. The paper describes the protocol focusing on the consensus procedure that supports coherent changes in the global system. We also introduce a distributed connectivity tracking mechanism that is used to detect network partition and absent or crashed nodes. Finally, a set of simulation results are shown that illustrate the effectiveness of the proposed approaches.

  5. Real-Time Visual Tracking through Fusion Features.

    Science.gov (United States)

    Ruan, Yang; Wei, Zhenzhong

    2016-01-01

    Due to their high-speed, correlation filters for object tracking have begun to receive increasing attention. Traditional object trackers based on correlation filters typically use a single type of feature. In this paper, we attempt to integrate multiple feature types to improve the performance, and we propose a new DD-HOG fusion feature that consists of discriminative descriptors (DDs) and histograms of oriented gradients (HOG). However, fusion features as multi-vector descriptors cannot be directly used in prior correlation filters. To overcome this difficulty, we propose a multi-vector correlation filter (MVCF) that can directly convolve with a multi-vector descriptor to obtain a single-channel response that indicates the location of an object. Experiments on the CVPR2013 tracking benchmark with the evaluation of state-of-the-art trackers show the effectiveness and speed of the proposed method. Moreover, we show that our MVCF tracker, which uses the DD-HOG descriptor, outperforms the structure-preserving object tracker (SPOT) in multi-object tracking because of its high-speed and ability to address heavy occlusion. PMID:27347951

  6. Verification of MLC based real-time tumor tracking using an electronic portal imaging device

    OpenAIRE

    Han-Oh, Sarah; Yi, Byong Yong; Lerma, Fritz; Berman, Barry L.; Gui, Minzhi; Yu, Cedric

    2010-01-01

    Purpose: The authors have developed a novel technique using an electronic portal imaging device (EPID) to verify the geometrical accuracy of delivery of dose-rate-regulated tracking (DRRT). This technique, called verification of real-time tracking with EPID (VORTE), can potentially be used for both on-line and off-line quality assurance (QA) of MLC-based dynamic tumor tracking.

  7. Multiple Input Feature Sets from Real-Time Color and Range Data for Reliable Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Tsap, L.V.; Goldgof, D.B.

    1999-10-19

    This paper describes a work in progress on using multiple sets of input features for robust real-time object tracking in image sequences. Traditional approaches to tracking relied mostly on segmentation of the intensity data using motion or appearance data. Recent availability of real-time range data allows us to use it as an additional unrivaled source of information. We propose a combination of intensity- and range-based input features. Range data enables localized search for' specific features which improves tracking reliability and speed. Proposed approach was successfully tested for the face and gesture tracking application.

  8. Real-Time Tumor Tracking in the Lung Using an Electromagnetic Tracking System

    Energy Technology Data Exchange (ETDEWEB)

    Shah, Amish P., E-mail: Amish.Shah@orlandohealth.com [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States); Kupelian, Patrick A.; Waghorn, Benjamin J.; Willoughby, Twyla R.; Rineer, Justin M.; Mañon, Rafael R.; Vollenweider, Mark A.; Meeks, Sanford L. [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States)

    2013-07-01

    Purpose: To describe the first use of the commercially available Calypso 4D Localization System in the lung. Methods and Materials: Under an institutional review board-approved protocol and an investigational device exemption from the US Food and Drug Administration, the Calypso system was used with nonclinical methods to acquire real-time 4-dimensional lung tumor tracks for 7 lung cancer patients. The aims of the study were to investigate (1) the potential for bronchoscopic implantation; (2) the stability of smooth-surface beacon transponders (transponders) after implantation; and (3) the ability to acquire tracking information within the lung. Electromagnetic tracking was not used for any clinical decision making and could only be performed before any radiation delivery in a research setting. All motion tracks for each patient were reviewed, and values of the average displacement, amplitude of motion, period, and associated correlation to a sinusoidal model (R{sup 2}) were tabulated for all 42 tracks. Results: For all 7 patients at least 1 transponder was successfully implanted. To assist in securing the transponder at the tumor site, it was necessary to implant a secondary fiducial for most transponders owing to the transponder's smooth surface. For 3 patients, insertion into the lung proved difficult, with only 1 transponder remaining fixed during implantation. One patient developed a pneumothorax after implantation of the secondary fiducial. Once implanted, 13 of 14 transponders remained stable within the lung and were successfully tracked with the tracking system. Conclusions: Our initial experience with electromagnetic guidance within the lung demonstrates that transponder implantation and tracking is achievable though not clinically available. This research investigation proved that lung tumor motion exhibits large variations from fraction to fraction within a single patient and that improvements to both transponder and tracking system are still

  9. Real Time Vehicle Tracking System using GSM and GPS Technology- An Anti-theft Tracking System

    Directory of Open Access Journals (Sweden)

    Kunal Maurya

    2012-06-01

    Full Text Available A vehicle tracking system is an electronic device installed in a vehicle to enable the owner or a third party to track the vehicle's location. This paper proposed to design a vehicle tracking system that works using GPS and GSM technology, which would be the cheapest source of vehicle tracking and it would work as anti-theft system. It is an embedded system which is used for tracking and positioning of any vehicle by using Global Positioning System (GPS and Global system for mobile communication (GSM. This design will continuously monitor a moving Vehicle and report the status of the Vehicle on demand. For doing so an AT89C51 microcontroller is interfaced serially to a GSM Modem and GPS Receiver. A GSM modem is used to send the position (Latitude and Longitude of the vehicle from a remote place. The GPS modem will continuously give the data i.e. the latitude and longitude indicating the position of the vehicle. The same data is sent to the mobile at the other end from where the position of the vehicle is demanded. When the request by user is sent to the number at the GSM modem, the system automatically sends a return reply to that mobile indicating the position of the vehicle in terms of latitude and longitude in real time.

  10. A Spatial Reference Grid for Real-Time Autonomous Underwater Modeling using 3-D Sonar

    Energy Technology Data Exchange (ETDEWEB)

    Auran, P.G.

    1996-12-31

    The offshore industry has recognized the need for intelligent underwater robotic vehicles. This doctoral thesis deals with autonomous underwater vehicles (AUVs) and concentrates on a data representation for real-time image formation and analysis. Its main objective is to develop a 3-D image representation suitable for autonomous perception objectives underwater, assuming active sonar as the main sensor for perception. The main contributions are: (1) A dynamical image representation for 3-D range data, (2) A basic electronic circuit and software system for 3-D sonar sampling and amplitude thresholding, (3) A model for target reliability, (4) An efficient connected components algorithm for 3-D segmentation, (5) A method for extracting general 3-D geometrical representations from segmented echo clusters, (6) Experimental results of planar and curved target modeling. 142 refs., 120 figs., 10 tabs.

  11. Real-time systems

    OpenAIRE

    Badr, Salah M.; Bruztman, Donald P.; Nelson, Michael L.; Byrnes, Ronald Benton, Jr.

    1992-01-01

    This paper presents an introduction to the basic issues involved in real-time systems. Both real-time operating sys and real-time programming languages are explored. Concurrent programming and process synchronization and communication are also discussed. The real-time requirements of the Naval Postgraduate School Autonomous Under Vehicle (AUV) are then examined. Autonomous underwater vehicle (AUV), hard real-time system, real-time operating system, real-time programming language, real-time sy...

  12. A low cost real-time motion tracking approach using webcam technology.

    Science.gov (United States)

    Krishnan, Chandramouli; Washabaugh, Edward P; Seetharaman, Yogesh

    2015-02-01

    Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject's limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training. PMID:25555306

  13. Management of three-dimensional intrafraction motion through real-time DMLC tracking

    International Nuclear Information System (INIS)

    Tumor tracking using a dynamic multileaf collimator (DMLC) represents a promising approach for intrafraction motion management in thoracic and abdominal cancer radiotherapy. In this work, we develop, empirically demonstrate, and characterize a novel 3D tracking algorithm for real-time, conformal, intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT)-based radiation delivery to targets moving in three dimensions. The algorithm obtains real-time information of target location from an independent position monitoring system and dynamically calculates MLC leaf positions to account for changes in target position. Initial studies were performed to evaluate the geometric accuracy of DMLC tracking of 3D target motion. In addition, dosimetric studies were performed on a clinical linac to evaluate the impact of real-time DMLC tracking for conformal, step-and-shoot (S-IMRT), dynamic (D-IMRT), and VMAT deliveries to a moving target. The efficiency of conformal and IMRT delivery in the presence of tracking was determined. Results show that submillimeter geometric accuracy in all three dimensions is achievable with DMLC tracking. Significant dosimetric improvements were observed in the presence of tracking for conformal and IMRT deliveries to moving targets. A gamma index evaluation with a 3%-3 mm criterion showed that deliveries without DMLC tracking exhibit between 1.7 (S-IMRT) and 4.8 (D-IMRT) times more dose points that fail the evaluation compared to corresponding deliveries with tracking. The efficiency of IMRT delivery, as measured in the lab, was observed to be significantly lower in case of tracking target motion perpendicular to MLC leaf travel compared to motion parallel to leaf travel. Nevertheless, these early results indicate that accurate, real-time DMLC tracking of 3D tumor motion is feasible and can potentially result in significant geometric and dosimetric advantages leading to more effective management of intrafraction motion

  14. Management of three-dimensional intrafraction motion through real-time DMLC tracking.

    Science.gov (United States)

    Sawant, Amit; Venkat, Raghu; Srivastava, Vikram; Carlson, David; Povzner, Sergey; Cattell, Herb; Keall, Paul

    2008-05-01

    Tumor tracking using a dynamic multileaf collimator (DMLC) represents a promising approach for intrafraction motion management in thoracic and abdominal cancer radiotherapy. In this work, we develop, empirically demonstrate, and characterize a novel 3D tracking algorithm for real-time, conformal, intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT)-based radiation delivery to targets moving in three dimensions. The algorithm obtains real-time information of target location from an independent position monitoring system and dynamically calculates MLC leaf positions to account for changes in target position. Initial studies were performed to evaluate the geometric accuracy of DMLC tracking of 3D target motion. In addition, dosimetric studies were performed on a clinical linac to evaluate the impact of real-time DMLC tracking for conformal, step-and-shoot (S-IMRT), dynamic (D-IMRT), and VMAT deliveries to a moving target. The efficiency of conformal and IMRT delivery in the presence of tracking was determined. Results show that submillimeter geometric accuracy in all three dimensions is achievable with DMLC tracking. Significant dosimetric improvements were observed in the presence of tracking for conformal and IMRT deliveries to moving targets. A gamma index evaluation with a 3%-3 mm criterion showed that deliveries without DMLC tracking exhibit between 1.7 (S-IMRT) and 4.8 (D-IMRT) times more dose points that fail the evaluation compared to corresponding deliveries with tracking. The efficiency of IMRT delivery, as measured in the lab, was observed to be significantly lower in case of tracking target motion perpendicular to MLC leaf travel compared to motion parallel to leaf travel. Nevertheless, these early results indicate that accurate, real-time DMLC tracking of 3D tumor motion is feasible and can potentially result in significant geometric and dosimetric advantages leading to more effective management of intrafraction motion. PMID

  15. Real-time tracking objects in different scenes on DSP and FPGA platform

    Science.gov (United States)

    Wang, Qiang; Gao, Zhanhong; Li, Jiangtao

    2009-10-01

    We propose three adaptive tracking approaches in different environments for our particular application. Poid tracking algorithm with iterative image segmentation and robust threshold is adopted for single object tracking in simple background. Multiple targets are detected and tracked using contour tracking algorithm in simple scenarios. Correlation tracking algorithm is more suitable to track an interesting moving object in complex scenes. Moreover, a programmable hardware based on TMS320DM642 DSP and Spatran3E FPGA is put forward. Then the software design methods and implementation on this platform are simultaneously introduced. The different track mode is selected by instructions from control computer. Experiments show that the three tracking algorithms are implemented in real time.

  16. Real time explosive hazard information sensing, processing, and communication for autonomous operation

    Science.gov (United States)

    Versteeg, Roelof J.; Few, Douglas A.; Kinoshita, Robert A.; Johnson, Douglas; Linda, Ondrej

    2015-12-15

    Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

  17. Real time explosive hazard information sensing, processing, and communication for autonomous operation

    Energy Technology Data Exchange (ETDEWEB)

    Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

    2015-02-24

    Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

  18. Continuous, real-time bioimaging of chemical bioavailability and toxicology using autonomously bioluminescent human cell lines

    Science.gov (United States)

    Xu, Tingting; Close, Dan M.; Webb, James D.; Price, Sarah L.; Ripp, Steven A.; Sayler, Gary S.

    2013-05-01

    Bioluminescent imaging is an emerging biomedical surveillance strategy that uses external cameras to detect in vivo light generated in small animal models of human physiology or in vitro light generated in tissue culture or tissue scaffold mimics of human anatomy. The most widely utilized of reporters is the firefly luciferase (luc) gene; however, it generates light only upon addition of a chemical substrate, thus only generating intermittent single time point data snapshots. To overcome this disadvantage, we have demonstrated substrate-independent bioluminescent imaging using an optimized bacterial bioluminescence (lux) system. The lux reporter produces bioluminescence autonomously using components found naturally within the cell, thereby allowing imaging to occur continuously and in real-time over the lifetime of the host. We have validated this technology in human cells with demonstrated chemical toxicological profiling against exotoxin exposures at signal strengths comparable to existing luc systems (~1.33 × 107 photons/second). As a proof-in-principle demonstration, we have engineered breast carcinoma cells to express bioluminescence for real-time screening of endocrine disrupting chemicals and validated detection of 17β-estradiol (EC50 = ~ 10 pM). These and other applications of this new reporter technology will be discussed as potential new pathways towards improved models of target chemical bioavailability, toxicology, efficacy, and human safety.

  19. Toward resilient high performance applications through real time reliability metric generaion and autonomous failure correction

    Energy Technology Data Exchange (ETDEWEB)

    Debardeleben, Nathan [Los Alamos National Laboratory; Chandler, Clayton [Los Alamos National Laboratory; Leangsuksun, Chokchai [LOUISIANA TECH UNIV

    2009-01-01

    One predominant barrier encountered in furthering research and development efforts aimed at facilitating resilient HPC applications is a substantial lack of existing reliability and performance data originating from extreme-scale computing distributions. In order to develop an understanding of how and why highly scaled HPC applications are encountering increasingly frequent performance interruptions, one must conduct extensive trending and analysis on contemporary machines and their associated programs. However, existing HPC application log files are labyrinthine documents that, even with the assistance of intelligent data mining algorithms, translate poorly to human discern. In addition, conventional log filtering, processes are limited to execution within a post-mortem, reactive time period, as the enormous size of these documents prevents efficient real time interaction. Thus, there exists a strong need within the HPC field for the provision of accurate-yet-concise real time application information. Moreover, the means of reporting this data must be sufficiently lightweight and non-intrusive, as to successfully-yet-discretely attach itself to the multiple processes running on multiple cores within tens (or in some cases, hundreds) of thousands of compute nodes. Furthermore, this information should in turn be used to facilitate the autonomous correction of application-threatening faults, suspensions, and interruptions. This paper describes a dynamic application instrumentation module (utilizing a combination of Open/SpeedShop software and custom scripting) aimed at successfully achieving these goals.

  20. Incorporating system latency associated with real-time target tracking radiotherapy in the dose prediction step

    Science.gov (United States)

    Roland, Teboh; Mavroidis, Panayiotis; Shi, Chengyu; Papanikolaou, Nikos

    2010-05-01

    System latency introduces geometric errors in the course of real-time target tracking radiotherapy. This effect can be minimized, for example by the use of predictive filters, but cannot be completely avoided. In this work, we present a convolution technique that can incorporate the effect as part of the treatment planning process. The method can be applied independently or in conjunction with the predictive filters to compensate for residual latency effects. The implementation was performed on TrackBeam (Initia Ltd, Israel), a prototype real-time target tracking system assembled and evaluated at our Cancer Institute. For the experimental system settings examined, a Gaussian distribution attributable to the TrackBeam latency was derived with σ = 3.7 mm. The TrackBeam latency, expressed as an average response time, was deduced to be 172 ms. Phantom investigations were further performed to verify the convolution technique. In addition, patient studies involving 4DCT volumes of previously treated lung cancer patients were performed to incorporate the latency effect in the dose prediction step. This also enabled us to effectively quantify the dosimetric and radiobiological impact of the TrackBeam and other higher latency effects on the clinical outcome of a real-time target tracking delivery.

  1. Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound

    NARCIS (Netherlands)

    Vrooijink, G.J.; Abayazid, M.; Misra, S.

    2013-01-01

    Needle insertion is one of the most commonly performed minimally invasive procedures. Visualization of the needle during insertion is key for either successful diagnosis or therapy. This work presents the real-time three-dimensional tracking of flexible needles during insertion into a soft-tissue si

  2. Real-Time Head Pose Tracking with Online Face Template Reconstruction.

    Science.gov (United States)

    Li, Songnan; Ngan, King Ngi; Paramesran, Raveendran; Sheng, Lu

    2016-09-01

    We propose a real-time method to accurately track the human head pose in the 3-dimensional (3D) world. Using a RGB-Depth camera, a face template is reconstructed by fitting a 3D morphable face model, and the head pose is determined by registering this user-specific face template to the input depth video. PMID:26584487

  3. A Real-time Face/Hand Tracking Method for Chinese Sign Language Recognition

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    This paper introduces a new Chinese Sign Language recognition (CSLR) system and a method of real-time tracking face and hand applied in the system. In the method, an improved agent algorithm is used to extract the region of face and hand and track them. Kalman filter is introduced to forecast the position and rectangle of search, and self-adapting of target color is designed to counteract the effect of illumination.

  4. Study on Sensor Design Technique for Real-Time Robotic Welding Tracking System

    International Nuclear Information System (INIS)

    Based on visual measurement techniques, the real-time robotic welding tracking system achieves real-time adjustment for robotic welding according to the position and shape changes of a workpiece. In system design, the sensor design technique is so important that its performance directly affects the precision and stability of the tracking system. Through initiative visual measurement technology, a camera unit for real-time sampling is built with multiple-strip structured light and a high-performance CMOS image sensor including 1.3 million pixels; to realize real-time data process and transmission, an image process unit is built with FPGA and DSP. Experiments show that the precision of this sensor reaches 0.3mm, and band rate comes up to 10Mbps, which effectively improves robot welding quality.With the development of advanced manufacturing technology, it becomes an inexorable trend to realize the automatic, flexible and intelligent welding product manufacture. With the advantage of interchangeability and reliability, robotic welding can boost productivity, improve work condition, stabilize and guarantee weld quality, and realize welding automation of the short run products [1]. At present, robotic welding has already become the application trend of automatic welding technology. Traditional welding robots are play-back ones, which cannot adapt environment and weld distortion. Especially in the more and more extensive arc-welding course, the deficiency and limitation of play-back welding technology becomes more prominent because of changeable welding condition. It becomes one of the key technology influencing the development of modern robotic welding technology to eliminate or decrease uncertain influence on quality of welding such as changing welding condition etc [2]. Based on visual measuring principle, this text adopts active visual measuring technology, cooperated with high-speed image process and transmission technology to structure a tracking sensor, to realize

  5. A real time tracking vision system and its application to robotics

    International Nuclear Information System (INIS)

    Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

  6. Observation of nuclear track in organic material by atomic force microscopy in real time during etching

    CERN Document Server

    Palmino, F; Labrune, J C

    1999-01-01

    The developments of Atomic Force Microscopy (AFM) allow to investigated solid surfaces with a nanometer scale. These techniques are useful methods allowing direct observation of surface morphologies. Particularly in the nuclear track fields, they offer a new tool to give many new informations on track formation. In this paper we present the preliminary results of a new use of this technique to characterize continuously the formation of the revealed track in a cellulose nitrate detector (LR115) after an alpha particle irradiation. For that, a specific cell has been used to observe, by nano-observations, the evolution of track shapes simultaneously with chemical treatment. Thus, the track shape evolution has been studied; visualizing the evolution of the tracks in real time, in situ during the chemical etching process.

  7. Visual real-time detection, recognition and tracking of ground and airborne targets

    Science.gov (United States)

    Kovács, Levente; Benedek, Csaba

    2011-03-01

    This paper presents methods and algorithms for real-time visual target detection, recognition and tracking, both in the case of ground-based objects (surveyed from a moving airborne imaging sensor) and flying targets (observed from a ground-based or vehicle mounted sensor). The methods are highly parallelized and partially implemented on GPU, with the goal of real-time speeds even in the case of multiple target observations. Real-time applicability is in focus. The methods use single camera observations, providing a passive and expendable alternative for expensive and/or active sensors. Use cases involve perimeter defense and surveillance situations, where passive detection and observation is a priority (e.g. aerial surveillance of a compound, detection of reconnaissance drones, etc.).

  8. Real-time tracking with a 3D-flow processor array

    International Nuclear Information System (INIS)

    The problem of real-time track-finding has been performed to date with CAM (Content Addressable Memories) or with fast coincidence logic, because the processing scheme was though to have much slower performance. Advances in technology together with a new architectural approach make it feasible to also explore the computing technique for real-time track finding thus giving the advantages of implementing algorithms that can find more parameters such as calculate the sagitta, curvature, pt, etc. with respect to the CAM approach. This report describes real-time track finding using a new computing approach technique based on the 3D-flow array processor system. This system consists of a fixed interconnection architexture scheme, allowing flexible algorithm implementation on a scalable platform. The 3D-Flow parallel processing system for track finding is scalable in size and performance by either increasing the number of processors, or increasing the speed or else the number of pipelined stages. The present article describes the conceptual idea and the design stage of the project

  9. Real-time tracking with a 3D-Flow processor array

    International Nuclear Information System (INIS)

    The problem of real-time track-finding has been performed to date with CAM (Content Addressable Memories) or with fast coincidence logic, because the processing scheme was thought to have much slower performance. Advances in technology together with a new architectural approach make it feasible to also explore the computing technique for real-time track finding thus giving the advantages of implementing algorithms that can find more parameters such as calculate the sagitta, curvature, pt, etc., with respect to the CAM approach. The report describes real-time track finding using new computing approach technique based on the 3D-Flow array processor system. This system consists of a fixed interconnection architecture scheme, allowing flexible algorithm implementation on a scalable platform. The 3D-Flow parallel processing system for track finding is scalable in size and performance by either increasing the number of processors, or increasing the speed or else the number of pipelined stages. The present article describes the conceptual idea and the design stage of the project

  10. Real-Time GPS Receiver System Implementation for Providing Location Based Services and SMS Tracking

    Directory of Open Access Journals (Sweden)

    Pratik K. Gaikwad

    2014-05-01

    Full Text Available This paper describes the design of a real-time GPS receiver system in a very simple and efficient fashion for navigation, tracking and positioning. This system is designed to provide location based parameters in real time like latitude, longitude, altitude, current location name and altitude. The values of these parameters are displayed on a GUI (Graphical User Interface. The system also provides a website application where the values of the parameters on the GUI are displayed in a tabulated form on the website. The parameter values are continuously updated and are displayed on the GUI. The updated parameter values on the GUI are also added to the table in the website. Hence the table shows the real-time parameter values along with the values which were previously displayed on the GUI. An internet based SMS (Short Message Service application is also developed which will message the real time latitude, longitude, altitude, speed and location name to the user’s mobile. The system consists of an antenna which acquires the satellite signals. These signals are given to the GPS receiver. The receiver is provided with a Universal Serial Bus (USB connector so that it compatible and can be easily connected to a Personal Computer (PC or laptop. The system software in the PC or laptop is developed in Visual Basic.NET computer programming language. The system is easy to use and provides real-time results in the form of visual displays.

  11. Real Time Detection and Tracking of Human Face using Skin Color Segmentation and Region Properties

    Directory of Open Access Journals (Sweden)

    Prashanth Kumar G.

    2014-07-01

    Full Text Available Real time faces detection and face tracking is one of the challenging problems in application like computer human interaction, video surveillance, biometrics etc. In this paper we are presenting an algorithm for real time face detection and tracking using skin color segmentation and region properties. First segmentation of skin regions from an image is done by using different color models. Skin regions are separated from the image by using thresholding. Then to decide whether these regions contain human face or not we used face features. Our procedure is based on skin color segmentation and human face features (knowledge-based approach. We have used RGB, YCbCr, and HSV color models for skin color segmentation. These color models with thresholds, help to remove non skin like pixel from an image. Each segmented skin regions are tested to know whether region is human face or not, by using human face features based on knowledge of geometrical properties of human face.

  12. Development of a scintillation-fiber detector for real-time particle tracking

    International Nuclear Information System (INIS)

    The prototype of the OFFSET (Optical Fiber Folded Scintillating Extended Tracker) tracker is presented. It exploits a novel system for particle tracking, designed to achieve real-time imaging, large detection areas, and a high spatial resolution especially suitable for use in medical diagnostics. The main results regarding the system architecture have been used as a demonstration of the technique which has been patented by the Istituto Nazionale di Fisica Nucleare (INFN). The prototype of this tracker, presented in this paper, has a 20 × 20 cm2 sensitive area, consisting of two crossed ribbons of 500 micron square scintillating fibers. The track position information is extracted in real time in an innovative way, using a reduced number of read-out channels to obtain very large detection area with moderate enough costs and complexity. The performance of the tracker was investigated using beta sources, cosmic rays, and a 62 MeV proton beam.

  13. Development of a scintillation-fiber detector for real-time particle tracking

    Science.gov (United States)

    Lo Presti, D.; Bonanno, D. L.; Longhitano, F.; Pugliatti, C.; Russo, G. V.; Aiello, S.; Cirrone, G. A. P.; Giordano, V.; Leonora, E.; Randazzo, N.; Romano, F.; Russo, M.; Sipala, V.; Stancampiano, C.; Reito, S.

    2013-04-01

    The prototype of the OFFSET (Optical Fiber Folded Scintillating Extended Tracker) tracker is presented. It exploits a novel system for particle tracking, designed to achieve real-time imaging, large detection areas, and a high spatial resolution especially suitable for use in medical diagnostics. The main results regarding the system architecture have been used as a demonstration of the technique which has been patented by the Istituto Nazionale di Fisica Nucleare (INFN). The prototype of this tracker, presented in this paper, has a 20 × 20 cm2 sensitive area, consisting of two crossed ribbons of 500 micron square scintillating fibers. The track position information is extracted in real time in an innovative way, using a reduced number of read-out channels to obtain very large detection area with moderate enough costs and complexity. The performance of the tracker was investigated using beta sources, cosmic rays, and a 62 MeV proton beam.

  14. Real Time Optima Tracking Using Harvesting Models of the Genetic Algorithm

    Science.gov (United States)

    Baskaran, Subbiah; Noever, D.

    1999-01-01

    Tracking optima in real time propulsion control, particularly for non-stationary optimization problems is a challenging task. Several approaches have been put forward for such a study including the numerical method called the genetic algorithm. In brief, this approach is built upon Darwinian-style competition between numerical alternatives displayed in the form of binary strings, or by analogy to 'pseudogenes'. Breeding of improved solution is an often cited parallel to natural selection in.evolutionary or soft computing. In this report we present our results of applying a novel model of a genetic algorithm for tracking optima in propulsion engineering and in real time control. We specialize the algorithm to mission profiling and planning optimizations, both to select reduced propulsion needs through trajectory planning and to explore time or fuel conservation strategies.

  15. Tracking magmatic intrusions in real-time by means of free-shaped volcanic source modelling

    Science.gov (United States)

    Cannavo', Flavio; Camacho, Antonio G.; Scandura, Danila; González, Pablo J.; Mattia, Mario; Fernández, José

    2014-05-01

    Nowadays continuous measurements of geophysical parameters provide a general real-time view of current state of the volcano. Nonetheless, a current challenge is to localize and track in real-time the evolution of the magma source beneath the volcano. Here we present a new methodology to rapidly estimate magmatic sources from surface geodetic data and track their evolution in time without any a priori assumption about source geometry. Indeed, the proposed approach takes the advantages of fast calculation from the analytical models and adds the capability to model free-shape distributed sources. Assuming homogenous elastic conditions, the approach can determine general geometrical configurations of pressured and/or density source and/or sliding structures corresponding to prescribed values of anomalous density, pressure and slip. These source bodies are described as aggregation of elemental point sources for pressure, density and slip, and they fit the whole data (keeping some 3D regularity conditions). In this work we show an application of the methodology to model the real-time evolution of the volcanic source for 2008 eruption of Mount Etna (Italy). To this aim the High-Rate GPS data, coming from the Continuous GPS network, are processed in real-time to obtain sub-daily solutions for tracking the fast dynamics of the magma migration. In our test case we reproduced the real-time scenario of the eruption. Though the data of the test were processed after data collection, real-time operation was emulated. From the results, it is possible to extrapolate the dynamic of a deep and a shallow magma source and the dyke intrusion. In particular, results show at 5 am UTC a magma batch likely migrating towards the surface leaving behind a deflating volume at about 2 km bsl and a deep elongated body from 2 km bsl to 10 km bsl which runs along the High Vp Body and likely represents the deep conduit from where the magma rises up. We demonstrate that the proposed methodology is

  16. A hybrid, large-scale wireless sensor network for real-time acquisition and tracking

    OpenAIRE

    Katopodis, Panagiotis

    2007-01-01

    This thesis proposes a hybrid, large-scale wireless sensor network (WSN) designed to support real-time target detection and tracking of multiple ballistic missile threats. In particular, the proposed WSN consists of terrestrial as well as satellite nodes. The IR signatures presented by the target-background combination are explored and modern IR sensor technologies are examined in search of a suitable IR sensor for the proposed hybrid, large-scale WSN. A multicolor, Quantum Well Infrared Phot...

  17. Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions

    OpenAIRE

    Bylow, Erik; Sturm, Jürgen; Kerl, Christian; Kahl, Fredrik; Cremers, Daniel

    2013-01-01

    The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. In this paper we present a novel method for real-time camera tracking and 3D reconstruction of static indoor environments using an RGB-D sensor. We show that by representing the geometry with a signed distance function (SDF), the camera pose can be efficiently estimated by directly minimizing the error of the depth images on the SDF....

  18. Moving Objects Tracking in Real Time Video and Plotting their Path of Movement

    OpenAIRE

    Rupali Naha; Antariksha Ray; Priteem Sarkar; Debabrata Datta

    2014-01-01

    This paper presents an algorithm to track moving objects in a real time video and to store co-ordinate values of the centroid of those objects in a vector for future use. Finally paths of those moving objects are plotted using the stored co-ordinate values. The proposed algorithm in this paper is based on background subtraction where tracking objects is performed in a sequence of video frames and its processing mainly consists of two main stages: isolation of objects from background in each f...

  19. A Real-Time Video-based Eye Tracking Approach for Driver Attention Study

    OpenAIRE

    Ying Zang; Hongbo Liu

    2012-01-01

    nowing the driver's point of gaze has significant potential to enhance driving safety, eye movements can be used as an indicator of the attention state of a driver; but the primary obstacle of integrating eye gaze into today's large scale real world driving attention study is the availability of a reliable, low-cost eye-tracking system. In this paper, we make an attempt to investigate such a real-time system to collect driver's eye gaze in real world driving environment. A novel eye-tracking ...

  20. Fast Tracker: a hardware real time track finder for the ATLAS trigger system

    International Nuclear Information System (INIS)

    The Fast Tracker (FTK) is an integral part of the trigger upgrade program of the ATLAS detector at the Large Hadron Collider (LHC). As the LHC luminosity approaches its design level of 1034 cm−2s−1, the combinatorial problem posed by charged particle tracking becomes increasingly difficult due to the swelling of multiple interactions per bunch crossing. The FTK is a highly-parallel hardware system intended to provide high-quality tracks with transverse momentum above 1 GeV in real time for online trigger system. The FTK system's design, based on a mixture of advanced technologies, and the expected physics performance will be presented

  1. Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras

    DEFF Research Database (Denmark)

    Rasmussen, Niels Tjørnly; Störring, Morritz; Moeslund, Thomas B.;

    2006-01-01

    This paper presents a real-time outside-in camera-based tracking system for wireless 3D pose tracking of a user’s head and hand in a virtual environment. The system uses four unsynchronised cameras as sensors and passive retroreflective markers arranged in rigid bodies as targets. In order...... to achieve high update rates and to cope with the unsynchronised data a single-constraint-at-a-time (SCAAT) Extended Kalman Filtering approach is used that recursively integrates measurements as soon as they are available one-at-a-time. Tests show that this approach is more robust to occlusions and provides...

  2. Automatic multimodal real-time tracking for image plane alignment in interventional Magnetic Resonance Imaging

    International Nuclear Information System (INIS)

    Interventional magnetic resonance imaging (MRI) aims at performing minimally invasive percutaneous interventions, such as tumor ablations and biopsies, under MRI guidance. During such interventions, the acquired MR image planes are typically aligned to the surgical instrument (needle) axis and to surrounding anatomical structures of interest in order to efficiently monitor the advancement in real-time of the instrument inside the patient's body. Object tracking inside the MRI is expected to facilitate and accelerate MR-guided interventions by allowing to automatically align the image planes to the surgical instrument. In this PhD thesis, an image-based work-flow is proposed and refined for automatic image plane alignment. An automatic tracking work-flow was developed, performing detection and tracking of a passive marker directly in clinical real-time images. This tracking work-flow is designed for fully automated image plane alignment, with minimization of tracking-dedicated time. Its main drawback is its inherent dependence on the slow clinical MRI update rate. First, the addition of motion estimation and prediction with a Kalman filter was investigated and improved the work-flow tracking performance. Second, a complementary optical sensor was used for multi-sensor tracking in order to decouple the tracking update rate from the MR image acquisition rate. Performance of the work-flow was evaluated with both computer simulations and experiments using an MR compatible test bed. Results show a high robustness of the multi-sensor tracking approach for dynamic image plane alignment, due to the combination of the individual strengths of each sensor. (author)

  3. GPU-based quasi-real-time Track Recognition in Imaging Devices: from raw Data to Particle Tracks

    CERN Document Server

    Bozza, Cristiano; De Sio, Chiara; Stellacci, Simona Maria

    2015-01-01

    Nuclear emulsions as tracking devices have been used by recent experiments thanks to fast automatic microscopes for emulsion readout. Automatic systems are evolving towards GPU-based solutions. Real-time imaging is needed to drive the motion of the microscope axes and 3D track recognition occurs quasi-online in local GPU clusters. The algorithms implemented in the Quick Scanning System are sketched. Most of them are very general and might turn out useful for other detector

  4. A Target Model Construction Algorithm for Robust Real-Time Mean-Shift Tracking

    Directory of Open Access Journals (Sweden)

    Yoo-Joo Choi

    2014-11-01

    Full Text Available Mean-shift tracking has gained more interests, nowadays, aided by its feasibility of real-time and reliable tracker implementation. In order to reduce background clutter interference to mean-shift object tracking, this paper proposes a novel indicator function generation method. The proposed method takes advantage of two ‘a priori’ knowledge elements, which are inherent to a kernel support for initializing a target model. Based on the assured background labels, a gradient-based label propagation is performed, resulting in a number of objects differentiated from the background. Then the proposed region growing scheme picks up one largest target object near the center of the kernel support. The grown object region constitutes the proposed indicator function and this allows an exact target model construction for robust mean-shift tracking. Simulation results demonstrate the proposed exact target model could significantly enhance the robustness as well as the accuracy of mean-shift object tracking.

  5. Real Time 3D Facial Movement Tracking Using a Monocular Camera.

    Science.gov (United States)

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-01-01

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

  6. Real Time 3D Facial Movement Tracking Using a Monocular Camera

    Directory of Open Access Journals (Sweden)

    Yanchao Dong

    2016-07-01

    Full Text Available The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

  7. Real-Time Observations of Optical Properties of Arctic Sea Ice with an Autonomous System

    Science.gov (United States)

    Wang, C.; Gerland, S.; Nicolaus, M.; Granskog, M. A.; Hudson, S. R.; Perovich, D. K.; Karlsen, T. I.; Fossan, K.

    2012-12-01

    The recent drastic changes in the Arctic sea ice cover have altered the interaction of solar radiation and sea ice. To improve our understanding of this interaction, a Spectral Radiation Buoy (SRB) for measuring sea ice optical properties was developed, based on a system used during the last International Polar Year at the drift of "Tara" across the Arctic Ocean. A first version of the SRB was deployed on drifting ice in the high Arctic in April 2012. It includes three Satlantic spectral radiometers (two in air, one under ice), covering the wavelength range from 347 nm to 804 nm with 3.3 nm spectral resolution, a bio-shutter to protect the under-ice radiometer, a data logger to handle and store collected data, and an Iridium satellite modem to transfer data in real-time. The under-ice radiometer is mounted on an adjustable under-ice arm, and the other instruments are mounted on a triangular frame frozen into the ice. The SRB measures simultaneously, autonomously and continuously the spectral fluxes of incident and reflected solar radiation, as well as under-ice irradiance, water temperature and water pressure every hour. So far, between mid April and early August 2012, the system has drifted about 600 km, from the starting position near the North Pole towards the Fram Strait. The data collected during this deployment, so far, already demonstrate that this system is suitable for autonomous and long-term observations over and under sea ice in harsh conditions. Along with the SRB, commercially available Ice Mass Balance buoys (IMB) were deployed on the same ice floe. In the vicinity of the site, manned baseline measurements of snow and sea ice physical properties have been carried out during the SRB deployment. The combined datasets allow description of the evolution of the ice floe during seasonal melt. With snow melt, the spectral surface albedo decreased and the transmittance through the snow and ice increased after mid-April, especially when melt ponds started to

  8. Optimization of real time edge enhanced object tracking algorithm on video processor

    International Nuclear Information System (INIS)

    This research work provides an efficient methodology that is strongly comparable with other techniques. Real time objects can be tracked efficiently. The work undertaken in this dissertation is mainly focused on development of a reliable and robust tracking system that can track any object of interest in the video acquired from a stationary or moving camera. The steps included in the proposed algorithm are target smoothing by applying Gaussian smoothing filter, edge enhancement and template matching. The proposed visual tracking system has been implemented in RGB space. This scheme augments the feature set values of template iteratively, by taking weighted sum of template and the current best match. The proposed algorithm is a real time algorithm that operates in more than 25 frames per second. Frame rate is dependent on template size. Adjustable window size control is also provided. The proposed algorithm is more invariant to varying illumination conditions, and is performing well in presence of background clutter and variations in shape and size of the object. Template drift is significantly minimized in the proposed scheme. Target loss is also significantly minimized. Furthermore, in presence of fog and haze the algorithm proves itself to be efficient. The algorithm can handle partial and fast occlusions. (author)

  9. Practical Method of Adaptive Radiotherapy for Prostate Cancer Using Real-Time Electromagnetic Tracking

    International Nuclear Information System (INIS)

    Purpose: We have created an automated process using real-time tracking data to evaluate the adequacy of planning target volume (PTV) margins in prostate cancer, allowing a process of adaptive radiotherapy with minimal physician workload. We present an analysis of PTV adequacy and a proposed adaptive process. Methods and Materials: Tracking data were analyzed for 15 patients who underwent step-and-shoot multi-leaf collimation (SMLC) intensity-modulated radiation therapy (IMRT) with uniform 5-mm PTV margins for prostate cancer using the Calypso® Localization System. Additional plans were generated with 0- and 3-mm margins. A custom software application using the planned dose distribution and structure location from computed tomography (CT) simulation was developed to evaluate the dosimetric impact to the target due to motion. The dose delivered to the prostate was calculated for the initial three, five, and 10 fractions, and for the entire treatment. Treatment was accepted as adequate if the minimum delivered prostate dose (Dmin) was at least 98% of the planned Dmin. Results: For 0-, 3-, and 5-mm PTV margins, adequate treatment was obtained in 3 of 15, 12 of 15, and 15 of 15 patients, and the delivered Dmin ranged from 78% to 99%, 96% to 100%, and 99% to 100% of the planned Dmin. Changes in Dmin did not correlate with magnitude of prostate motion. Treatment adequacy during the first 10 fractions predicted sufficient dose delivery for the entire treatment for all patients and margins. Conclusions: Our adaptive process successfully used real-time tracking data to predict the need for PTV modifications, without the added burden of physician contouring and image analysis. Our methods are applicable to other uses of real-time tracking, including hypofractionated treatment.

  10. Towards Real-Time Detection and Tracking of Blob-Filaments in Fusion Plasma Big Data

    CERN Document Server

    Wu, Lingfei; Sim, Alex; Churchill, Michael; Choi, Jong Y; Stathopoulos, Andreas; Chang, Cs; Klasky, Scott

    2015-01-01

    Magnetic fusion could provide an inexhaustible, clean, and safe solution to the global energy needs. The success of magnetically-confined fusion reactors demands steady-state plasma confinement which is challenged by the blob-filaments driven by the edge turbulence. Real-time analysis can be used to monitor the progress of fusion experiments and prevent catastrophic events. However, terabytes of data are generated over short time periods in fusion experiments. Timely access to and analyzing this amount of data demands properly responding to extreme scale computing and big data challenges. In this paper, we apply outlier detection techniques to effectively tackle the fusion blob detection problem on extremely large parallel machines. We present a real-time region outlier detection algorithm to efficiently find blobs in fusion experiments and simulations. In addition, we propose an efficient scheme to track the movement of region outliers over time. We have implemented our algorithms with hybrid MPI/OpenMP and ...

  11. Real-Time Dynamic MLC Tracking for Intensity Modulated Arc Therapy

    DEFF Research Database (Denmark)

    Falk, Marianne

    Motion management of intra-fraction tumour motion during radiotherapy treatment can be a challenging task in order to achieve tumour control as well as minimizing the dose to the surrounding healthy tissue. Real-time dynamic multileaf collimator (MLC) tracking is a novel method for intra......-fraction motion management that uses the MLC of the treatment machine to reshape the beam to follow the tumour movements. The 3D MLC tracking algorithm recalculates the planned MLC positions using information about the tumour location from an independent monitoring system and the leaves are adjusted accordingly....... The over all goals of the studies in this thesis were to evaluate clinical gains of intrafraction motion management with MLC tracking, to investigate which patients that would benefit from this kind of treatment as well as what treatment plans that can be used with this technique....

  12. Parameterization of real-time 3D speckle tracking framework for cardiac strain assessment.

    Science.gov (United States)

    Lorsakul, Auranuch; Duan, Qi; Po, Ming Jack; Angelini, Elsa; Homma, Shunichi; Laine, Andrew F

    2011-01-01

    Cross-correlation based 3D speckle tracking algorithm can be used to automatically track myocardial motion on three dimensional real-time (RT3D) echocardiography. The goal of this study was to experimentally investigate the effects of different parameters associated with such algorithm to ensure accurate cardiac strain measurements. The investigation was performed on 10 chronic obstructive pulmonary disease RT3DE cardiac ultrasound images. The following two parameters were investigated: 1) the gradient threshold of the anisotropic diffusion pre-filtering and 2) the window size of the cross correlation template matching in the speckle tracking. Results suggest that the optimal gradient threshold of the anisotropic filter depends on the average gradient of the background speckle noise, and that an optimal pair of template size and search window size can be identified determines the cross-correlation level and computational cost. PMID:22254887

  13. Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅰ)

    Institute of Scientific and Technical Information of China (English)

    谭冠政; 梁丰; 王越超

    2002-01-01

    Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.

  14. Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)

    Institute of Scientific and Technical Information of China (English)

    谭冠政; 胡生员

    2002-01-01

    Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on-line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.

  15. Real-Time Tracking Method for a Magnetic Target Using Total Geomagnetic Field Intensity

    Science.gov (United States)

    Fan, Liming; Kang, Chong; Zhang, Xiaojun; Wan, Shengwei

    2016-06-01

    We propose an efficient and effective method for real-time tracking a long-range magnetic target using total geomagnetic field intensity. This method is based on a scalar magnetometer sensor array and an improved particle swarm optimization algorithm. Due to the effect of the geomagnetic field variations, the detection distance range of the method based on the gradient tensor is short. To increase the detection range, the geomagnetic field variations must be eliminated in the method. In this paper, the geomagnetic quasi-gradient calculated from total geomagnetic field intensity in the sensor array is used. We design a sensor array with five magnetometers and use the geomagnetic quasi-gradient to eliminate the geomagnetic field variations. The improved particle swarm optimization (IPSO) algorithm, which minimizes the errors of total geomagnetic field values between measurements and calculations, is applied in this real-time tracking method to track a long-range magnetic target position. The detailed principle of the method and the steps of the IPSO algorithm are described in detail. The method is validated with a numerical simulation. The results show that the average relative error of position is less than 2 % and the execution time is less than 1.5 s.

  16. Ground-based real-time tracking and traverse recovery of China's first lunar rover

    Science.gov (United States)

    Zhou, Huan; Li, Haitao; Xu, Dezhen; Dong, Guangliang

    2016-02-01

    The Chang'E-3 unmanned lunar exploration mission forms an important stage in China's Lunar Exploration Program. China's first lunar rover "Yutu" is a sub-probe of the Chang'E-3 mission. Its main science objectives cover the investigations of the lunar soil and crust structure, explorations of mineral resources, and analyses of matter compositions. Some of these tasks require accurate real-time and continuous position tracking of the rover. To achieve these goals with the scale-limited Chinese observation network, this study proposed a ground-based real-time very long baseline interferometry phase referencing tracking method. We choose the Chang'E-3 lander as the phase reference source, and the accurate location of the rover is updated every 10 s using its radio-image sequences with the help of a priori information. The detailed movements of the Yutu rover have been captured with a sensitivity of several centimeters, and its traverse across the lunar surface during the first few days after its separation from the Chang'E-3 lander has been recovered. Comparisons and analysis show that the position tracking accuracy reaches a 1-m level.

  17. Real Time Vehicle Tracking System using GSM and GPS Technology- An Anti-theft Tracking System

    OpenAIRE

    Kunal Maurya; Mandeep Singh; Neelu Jain

    2012-01-01

    A vehicle tracking system is an electronic device installed in a vehicle to enable the owner or a third party to track the vehicle's location. This paper proposed to design a vehicle tracking system that works using GPS and GSM technology, which would be the cheapest source of vehicle tracking and it would work as anti-theft system. It is an embedded system which is used for tracking and positioning of any vehicle by using Global Positioning System (GPS) and Global system for mobile communica...

  18. Real-Time Tracking of Singlet Exciton Diffusion in Organic Semiconductors

    Science.gov (United States)

    Kozlov, Oleg V.; de Haan, Foppe; Kerner, Ross A.; Rand, Barry P.; Cheyns, David; Pshenichnikov, Maxim S.

    2016-02-01

    Exciton diffusion in organic materials provides the operational basis for functioning of such devices as organic solar cells and light-emitting diodes. Here we track the exciton diffusion process in organic semiconductors in real time with a novel technique based on femtosecond photoinduced absorption spectroscopy. Using vacuum-deposited C70 layers as a model system, we demonstrate an extremely high diffusion coefficient of D ≈3.5 ×10-3 cm2/s that originates from a surprisingly low energetic disorder of powerful tool for further development of organic optoelectronic components, such as simple layered solar cells, light-emitting diodes, and electrically pumped lasers.

  19. Real-time Face Detection and Tracking Using Haar Classifier on SoC

    OpenAIRE

    Rajashree Tripathy; R N Daschoudhury

    2014-01-01

    In this paper we intend to Implement a real time Face detection and tracking the head poses position from high definition video using Haar Classifier through Raspberry Pi BCM2835 CPU processor which is a combination of SoC with GPU based Architecture. OV5647 CMOS Image sensor with 5-megapixel used for obtaining high definition video H.264 video data via GPU’s hardware video decoder to improve the playback of H.264 Video data supporting from 1080p at 30fps with complete user control over fo...

  20. Detecting and Tracking The Real-time Hot Topics: A Study on Computational Neuroscience

    OpenAIRE

    Wang, Xianwen; Fang, Zhichao

    2016-01-01

    In this study, following the idea of our previous paper (Wang, et al., 2013a), we improve the method to detect and track hot topics in a specific field by using the real-time article usage data. With the "usage count" data provided by Web of Science, we take the field of computational neuroscience as an example to make analysis. About 10 thousand articles in the field of Computational Neuroscience are queried in Web of Science, when the records, including the usage count data of each paper, h...

  1. Real-time tracking using stereo and motion: Visual perception for space robotics

    Science.gov (United States)

    Nishihara, H. Keith; Thomas, Hans; Huber, Eric; Reid, C. Ann

    1994-01-01

    The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

  2. Real-time, aptamer-based tracking of circulating therapeutic agents in living animals.

    Science.gov (United States)

    Ferguson, Brian Scott; Hoggarth, David A; Maliniak, Dan; Ploense, Kyle; White, Ryan J; Woodward, Nick; Hsieh, Kuangwen; Bonham, Andrew J; Eisenstein, Michael; Kippin, Tod E; Plaxco, Kevin W; Soh, Hyongsok Tom

    2013-11-27

    A sensor capable of continuously measuring specific molecules in the bloodstream in vivo would give clinicians a valuable window into patients' health and their response to therapeutics. Such technology would enable truly personalized medicine, wherein therapeutic agents could be tailored with optimal doses for each patient to maximize efficacy and minimize side effects. Unfortunately, continuous, real-time measurement is currently only possible for a handful of targets, such as glucose, lactose, and oxygen, and the few existing platforms for continuous measurement are not generalizable for the monitoring of other analytes, such as small-molecule therapeutics. In response, we have developed a real-time biosensor capable of continuously tracking a wide range of circulating drugs in living subjects. Our microfluidic electrochemical detector for in vivo continuous monitoring (MEDIC) requires no exogenous reagents, operates at room temperature, and can be reconfigured to measure different target molecules by exchanging probes in a modular manner. To demonstrate the system's versatility, we measured therapeutic in vivo concentrations of doxorubicin (a chemotherapeutic) and kanamycin (an antibiotic) in live rats and in human whole blood for several hours with high sensitivity and specificity at subminute temporal resolution. We show that MEDIC can also obtain pharmacokinetic parameters for individual animals in real time. Accordingly, just as continuous glucose monitoring technology is currently revolutionizing diabetes care, we believe that MEDIC could be a powerful enabler for personalized medicine by ensuring delivery of optimal drug doses for individual patients based on direct detection of physiological parameters. PMID:24285484

  3. Tracking effusive eruptions in near real-time: 2014 Fogo (Cape Verde) eruption

    Science.gov (United States)

    Laiolo, Marco; Coppola, Diego; Cigolini, Corrado; Faria, Bruno; Ripepe, Maurizio

    2015-04-01

    The Fogo volcano (Cape Verde), after almost 20 years of inactivity, entered in a new effusive phase on November 23, 2014. The eruption occurred on the Fogo's Pico cone inside the Cha Caldera where the lava flow caused the evacuation of the Bangaeira and Portela inhabitants. To track the thermal evolution of this eruption, we extended the near-real time processing of the MIROVA (Middle InfraRed Observation of Volcanic Activity) algorithm to Fogo island. MIROVA is a hot-spot detection system based on the analysis of the Moderate Resolution Imaging Spectroradiometer (MODIS) data that provide thermal maps (1 km resolution) and radiant flux estimates, in near real time (1-4 hours from satellite overpass). Thermal output retrieved by MIROVA can be converted into time-average lava discharge rates allowing the identification of ongoing effusive trends. During the first 45 days of activity the eruption shows a waxing-waning trend typical of pressurized closed systems. Preliminary results indicate that MIROVA is particularly efficient to provide near real-time data that are critical for better assessing volcanic risk, and to help the decision-makers during volcanic crisis. Data requested by the UNDAC (United Nations Disaster Assessment and Coordination) team operating in Cape Verde, through the Emergency Response Coordination Center (ERCC) of the European Mechanism of Civil Protection, were provided in near real-time via web to the National Institute of Meteorology and Geophysics and to National Civil Protection. Once compared to seismological data, information provided by MIROVA have been successfully used during the volcanic crisis.

  4. Extended neural network-based scheme for real-time force tracking with magnetorheological dampers

    DEFF Research Database (Denmark)

    Weber, Felix; Bhowmik, Subrata; Høgsberg, Jan Becker

    2014-01-01

    This paper validates numerically and experimentally a new neural network-based real-time force tracking scheme for magnetorheological (MR) dampers on a five-storey shear frame with MR damper. The inverse model is trained with absolute values of measured velocity and force because the targeted...... current is a positive quantity. The validation shows accurate results except of small current spikes when the desired force is in the vicinity of the residual MR damper force. In the closed-loop, higher frequency components in the current are triggered by the transition of the actual MR damper force from...... the pre-yield to the post-yield region. A control-oriented approach is presented to compensate for these drawbacks. The resulting control force tracking scheme is validated for the emulation of viscous damping, clipped viscous damping with negative stiffness, and friction damping with negative...

  5. Real-time dynamic MLC tracking for inversely optimized arc radiotherapy

    International Nuclear Information System (INIS)

    Background and purpose: Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory. Materials and methods: An MLC-tracking algorithm was used to adjust the MLC positions according to the target movements using information from an optical real-time positioning management system. Two plans with collimator angles of 45 deg. and 90 deg., respectively, were delivered and measured using the Delta4 (registered) dosimetric device moving in the superior-inferior direction with peak-to-peak displacements of 5, 10, 15, 20 and 25 mm and a cycle time of 6 s. Results: Gamma index evaluation for plan delivery with MLC tracking gave a pass rate higher than 98% for criteria 3% and 3 mm for both plans and for all sizes of the target displacement. With no motion compensation, the average pass rate was 75% for plan 1 and 70% for plan 2 for 25 mm peak-to-peak displacement. Conclusion: MLC tracking improves the accuracy of inversely optimized arc delivery for the cases studied. With MLC tracking, the dosimetric accuracy was independent of the magnitude of the peak-to-peak displacement of the target and not significantly affected by the angle between the leaf trajectory and the target movements.

  6. MobileFusion: real-time volumetric surface reconstruction and dense tracking on mobile phones.

    Science.gov (United States)

    Ondrúška, Peter; Kohli, Pushmeet; Izadi, Shahram

    2015-11-01

    We present the first pipeline for real-time volumetric surface reconstruction and dense 6DoF camera tracking running purely on standard, off-the-shelf mobile phones. Using only the embedded RGB camera, our system allows users to scan objects of varying shape, size, and appearance in seconds, with real-time feedback during the capture process. Unlike existing state of the art methods, which produce only point-based 3D models on the phone, or require cloud-based processing, our hybrid GPU/CPU pipeline is unique in that it creates a connected 3D surface model directly on the device at 25Hz. In each frame, we perform dense 6DoF tracking, which continuously registers the RGB input to the incrementally built 3D model, minimizing a noise aware photoconsistency error metric. This is followed by efficient key-frame selection, and dense per-frame stereo matching. These depth maps are fused volumetrically using a method akin to KinectFusion, producing compelling surface models. For each frame, the implicit surface is extracted for live user feedback and pose estimation. We demonstrate scans of a variety of objects, and compare to a Kinect-based baseline, showing on average ∼ 1.5cm error. We qualitatively compare to a state of the art point-based mobile phone method, demonstrating an order of magnitude faster scanning times, and fully connected surface models. PMID:26439826

  7. Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals

    OpenAIRE

    Vaquero, Victor; Repiso, Ely; Sanfeliu, Alberto; Vissers, John; Kwakkernaat, Maurice

    2015-01-01

    The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm is presented to be used in autonomous guided vehicles and autonomous trucks for efficient transportation of cargo in ports. The method first detects moving objects and then tracks them, taking int...

  8. Suitability of real time EPID tracking for tumor position verification in gated radiotherapy

    International Nuclear Information System (INIS)

    Full text: To maximise the benefits of respiratory-gated radiotherapy (RGRT) of lung tumours, real-time verification of the tumour position is required. This work investigates the feasibility of markerless tracking of lung tumours during beam on time in EPID images of the MV therapeutic beam. EPID movies were acquired at ∼2 frames/s for both a dynamic phantom and lung cancer patients undergoing stereotactic body radiotherapy. The EPI D movies were retrospectively analysed in PortalTrack, an in-house tracking software, by simulating gated delivery and tumour tracking for hypothetical gating windows with varying threshold levels. The tumour positions were determined in PortalTrack by mimicking an amplitude-based gating approach in the sense that a fixed gating threshold was set. Both the residual motion inside the gating window as well as the probability density functions (PDFs) were used as measures to quantify tumour position variability. The initial results for both the phantom and clinical data indicate that tumour motion can be determined and tracked during RGRT. The tracking information was sufficient to quantify residual motion and PDFs. Tumour baseline-drifts and irregular tumour motion were identified, which can both lead to considerable variations in residual motion and in turn may result in marginal miss. A clear correlation between baseline drifts and residual motion was observed. Conclusion Although this was a retrospective analysis of motion data, the tool has shown great potential for verification of the tumour position during RGRT and may possibly be useful for adaptation of the gating window.

  9. Registration of clinical volumes to beams-eye-view images for real-time tracking

    Energy Technology Data Exchange (ETDEWEB)

    Bryant, Jonathan H.; Rottmann, Joerg; Lewis, John H.; Mishra, Pankaj; Berbeco, Ross I., E-mail: rberbeco@lroc.harvard.edu [Department of Radiation Oncology, Brigham and Women’s Hospital, Dana-Farber Cancer Institute and Harvard Medical School, Boston, Massachusetts 02115 (United States); Keall, Paul J. [Radiation Physics Laboratory, Sydney Medical School, University of Sydney, Sydney, New South Wales 2006 (Australia)

    2014-12-15

    Purpose: The authors combine the registration of 2D beam’s eye view (BEV) images and 3D planning computed tomography (CT) images, with relative, markerless tumor tracking to provide automatic absolute tracking of physician defined volumes such as the gross tumor volume (GTV). Methods: During treatment of lung SBRT cases, BEV images were continuously acquired with an electronic portal imaging device (EPID) operating in cine mode. For absolute registration of physician-defined volumes, an intensity based 2D/3D registration to the planning CT was performed using the end-of-exhale (EoE) phase of the four dimensional computed tomography (4DCT). The volume was converted from Hounsfield units into electron density by a calibration curve and digitally reconstructed radiographs (DRRs) were generated for each beam geometry. Using normalized cross correlation between the DRR and an EoE BEV image, the best in-plane rigid transformation was found. The transformation was applied to physician-defined contours in the planning CT, mapping them into the EPID image domain. A robust multiregion method of relative markerless lung tumor tracking quantified deviations from the EoE position. Results: The success of 2D/3D registration was demonstrated at the EoE breathing phase. By registering at this phase and then employing a separate technique for relative tracking, the authors are able to successfully track target volumes in the BEV images throughout the entire treatment delivery. Conclusions: Through the combination of EPID/4DCT registration and relative tracking, a necessary step toward the clinical implementation of BEV tracking has been completed. The knowledge of tumor volumes relative to the treatment field is important for future applications like real-time motion management, adaptive radiotherapy, and delivered dose calculations.

  10. Moving Objects Tracking in Real Time Video and Plotting their Path of Movement

    Directory of Open Access Journals (Sweden)

    Rupali Naha

    2014-03-01

    Full Text Available This paper presents an algorithm to track moving objects in a real time video and to store co-ordinate values of the centroid of those objects in a vector for future use. Finally paths of those moving objects are plotted using the stored co-ordinate values. The proposed algorithm in this paper is based on background subtraction where tracking objects is performed in a sequence of video frames and its processing mainly consists of two main stages: isolation of objects from background in each frames and association of objects in successive frames to trace them. In this approach, moving objects can be tracked accurately, then an accurate record of their motion can be made and their path of movement can be plotted. Such tracking system is required in sensitive areas such as bank, departmental stores, parking lots and country border to determine whether one or more human beings engaged are suspicious or under criminal activity. Experimental results, which demonstrate the system’s performance, are also shown in this paper.

  11. Effective real-time vehicle tracking using discriminative sparse coding on local patches

    Science.gov (United States)

    Chen, XiangJun; Ye, Feiyue; Ruan, Yaduan; Chen, Qimei

    2016-01-01

    A visual tracking framework that provides an object detector and tracker, which focuses on effective and efficient visual tracking in surveillance of real-world intelligent transport system applications, is proposed. The framework casts the tracking task as problems of object detection, feature representation, and classification, which is different from appearance model-matching approaches. Through a feature representation of discriminative sparse coding on local patches called DSCLP, which trains a dictionary on local clustered patches sampled from both positive and negative datasets, the discriminative power and robustness has been improved remarkably, which makes our method more robust to a complex realistic setting with all kinds of degraded image quality. Moreover, by catching objects through one-time background subtraction, along with offline dictionary training, computation time is dramatically reduced, which enables our framework to achieve real-time tracking performance even in a high-definition sequence with heavy traffic. Experiment results show that our work outperforms some state-of-the-art methods in terms of speed, accuracy, and robustness and exhibits increased robustness in a complex real-world scenario with degraded image quality caused by vehicle occlusion, image blur of rain or fog, and change in viewpoint or scale.

  12. Assessment of MLC tracking performance during hypofractionated prostate radiotherapy using real-time dose reconstruction

    Science.gov (United States)

    Fast, M. F.; Kamerling, C. P.; Ziegenhein, P.; Menten, M. J.; Bedford, J. L.; Nill, S.; Oelfke, U.

    2016-02-01

    By adapting to the actual patient anatomy during treatment, tracked multi-leaf collimator (MLC) treatment deliveries offer an opportunity for margin reduction and healthy tissue sparing. This is assumed to be especially relevant for hypofractionated protocols in which intrafractional motion does not easily average out. In order to confidently deliver tracked treatments with potentially reduced margins, it is necessary to monitor not only the patient anatomy but also the actually delivered dose during irradiation. In this study, we present a novel real-time online dose reconstruction tool which calculates actually delivered dose based on pre-calculated dose influence data in less than 10 ms at a rate of 25 Hz. Using this tool we investigate the impact of clinical target volume (CTV) to planning target volume (PTV) margins on CTV coverage and organ-at-risk dose. On our research linear accelerator, a set of four different CTV-to-PTV margins were tested for three patient cases subject to four different motion conditions. Based on this data, we can conclude that tracking eliminates dose cold spots which can occur in the CTV during conventional deliveries even for the smallest CTV-to-PTV margin of 1 mm. Changes of organ-at-risk dose do occur frequently during MLC tracking and are not negligible in some cases. Intrafractional dose reconstruction is expected to become an important element in any attempt of re-planning the treatment plan during the delivery based on the observed anatomy of the day.

  13. Real-time tumor tracking: Automatic compensation of target motion using the Siemens 160 MLC

    International Nuclear Information System (INIS)

    Purpose: Advanced high quality radiation therapy techniques such as IMRT require an accurate delivery of precisely modulated radiation fields to the target volume. Interfractional and intrafractional motion of the patient's anatomy, however, may considerably deteriorate the accuracy of the delivered dose to the planned dose distributions. In order to compensate for these potential errors, a dynamic real-time capable MLC control system was designed. Methods: The newly developed adaptive MLC control system contains specialized algorithms which are capable of continuous optimization and correction of the aperture of the MLC according to the motion of the target volume during the dose delivery. The algorithms calculate the new leaf positions based on target information provided online to the system. The algorithms were implemented in a dynamic target tracking control system designed for a Siemens 160 MLC. To assess the quality of the new target tracking system in terms of dosimetric accuracy, experiments with various types of motion patterns using different phantom setups were performed. The phantoms were equipped with radiochromic films placed between solid water slabs. Dosimetric results of exemplary deliveries to moving targets with and without dynamic MLC tracking applied were compared in terms of the gamma criterion to the reference dose delivered to a static phantom. Results: Our measurements indicated that dose errors for clinically relevant two-dimensional target motion can be compensated by the new control system during the dose delivery of open fields. For a clinical IMRT dose distribution, the gamma success rate was increased from 19% to 77% using the new tracking system. Similar improvements were achieved for the delivery of a complete IMRT treatment fraction to a moving lung phantom. However, dosimetric accuracy was limited by the system's latency of 400 ms and the finite leaf width of 5 mm in the isocenter plane. Conclusions: Different experimental setups

  14. Recent innovation in microbial source tracking using bacterial real-time PCR markers in shellfish

    International Nuclear Information System (INIS)

    Highlights: ► DNA extraction from intravalvular liquid is promising for microbial source tracking in oysters. ► Host-associated bacterial markers in shellfish digestive tissues were difficult to assess with real-time PCR. ► DNA extracts from shellfish flesh appeared to have low inhibitor levels but low marker levels. ► Protocol transfer from one shellfish species to another does not appear possible. -- Abstract: We assessed the capacity of real-time PCR markers to identify the origin of contamination in shellfish. Oyster, cockles or clams were either contaminated with fecal materials and host-associated markers designed from Bacteroidales or Catellicoccus marimammalium 16S RNA genes were extracted from their intravalvular liquid, digestive tissues or shellfish flesh. Extraction of bacterial DNA from the oyster intravalvular liquid with FastDNA spin kit for soil enabled the selected markers to be quantified in 100% of artificially contaminated samples, and the source of contamination to be identified in 13 out of 38 naturally contaminated batches from European Class B and Class C areas. However, this protocol did not enable the origin of the contamination to be identified in cockle or clam samples. Although results are promising for extracts from intravalvular liquid in oyster, it is unlikely that a single protocol could be the best across all bacterial markers and types of shellfish

  15. A practical real-time detection visual system for driver's eye closure state tracking

    Science.gov (United States)

    Zhan, Tong; Li, Zheng-ming; Zhang, Jin

    2012-01-01

    We use an onboard computer and a smart webcam built a practical real-time detection visual system. Installed in a driving cabin in a specific way, it is able to determine the degree of closure of the driver's eyelids for further study of detecting and mitigating driver drowsiness and fatigue. For a practical real-time application, both the temporal resolution and the image resolution of video processing are key performances. Instead of the traditional video processing strategy which detects face in the first frame and keep tracking in the following, a frame-by-frame detecting and locating strategy is adopted, which firstly locates face region in a size-reduced image, secondly face region in original image is located by linear mapping calculation, thirdly eye region is located in face region according to the characteristics of a facial geometric model, this model allows personal calibration intuitively in run-time according to different individuals. A novel combination of several practical methods proved effective in computer vision is proposed, including capturing and resizing frames, face and eye localization, adaptive-threshold segmentation, mathematical morphology etc. Experiments show that the proposed system achieves a performance of image resolution of 640×480 pixels, temporal resolution of 53 frames / second, average eye-blink detection accuracy of 96% under various illumination conditions.

  16. A real-time digital adaptive tracking controller for a dc motor

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, S. [Purdue Univ., Fort Wayne, IN (United States). Dept. of Electrical Engineering Technology

    1995-12-31

    The objective of this design is to implement an accurate and cost effective adaptive tracking controller for a DC motor using an 80C196kr microcontroller system. The on-chip embedded functions, optical quadrature encoder and a Pulse Width Modulated (PWM) waveform generator, are used to measure motor positions and generate DC voltages to drive a DC motor respectively. A homing routine that incorporates a photo electric sensor is used to position the motor at a reference point. Users communicate with the system through a 4x4 matrix keypad and 20x2 LCD display or through a PC. The experimental results have shown the validity of this simple microcontroller-based digital control system. This system is performed on a real-time basis, and the control law can be easily replaced by any advanced control laws without changing the hardware setup.

  17. A Real-time Reinforcement Learning Control System with H∞ Tracking Performance Compensator

    Science.gov (United States)

    Uchiyama, Shogo; Obayashi, Masanao; Kuremoto, Takashi; Kobayashi, Kunikazu

    Robust control theory generally guarantees robustness and stability of the closed-loop system. It however requires a mathematical model of the system to design the control system. It therefore can't often deal with nonlinear systems due to difficulty of modeling of the system. On the other hand, reinforcement learning methods can deal with nonlinear systems without any mathematical model. It however usually doesn't guarantee the stability of the system control. In this paper, we propose a “Real-time Reinforcement Learning Control System (RRLCS)” through combining reinforcement learning to treat unknown nonlinear systems and robust control theory to guarantee the robustness and stability of the system. Moreover, we analyze the stability of the proposed system using H∞ tracking performance and Lyapunov function. Finally, through the computer simulation for controlling an inverted pendulum system, we show the effectiveness of the proposed method.

  18. Real-time object tracking based on scale-invariant features employing bio-inspired hardware.

    Science.gov (United States)

    Yasukawa, Shinsuke; Okuno, Hirotsugu; Ishii, Kazuo; Yagi, Tetsuya

    2016-09-01

    We developed a vision sensor system that performs a scale-invariant feature transform (SIFT) in real time. To apply the SIFT algorithm efficiently, we focus on a two-fold process performed by the visual system: whole-image parallel filtering and frequency-band parallel processing. The vision sensor system comprises an active pixel sensor, a metal-oxide semiconductor (MOS)-based resistive network, a field-programmable gate array (FPGA), and a digital computer. We employed the MOS-based resistive network for instantaneous spatial filtering and a configurable filter size. The FPGA is used to pipeline process the frequency-band signals. The proposed system was evaluated by tracking the feature points detected on an object in a video. PMID:27268260

  19. Real-Time Local Range On-Demand for Tracking Gestures and Dynamic Regional Range Images

    Energy Technology Data Exchange (ETDEWEB)

    Tsap, L.V.

    2000-05-30

    This paper presents a new approach to a gesture-tracking system using real-time range on-demand. The system represents a gesture-controlled interface for interactive visual exploration of large data sets. The paper describes a method performing range processing only when necessary and where necessary. Range data is processed only for non-static regions of interest. This is accomplished by a set of filters on the color, motion, and range data. The speedup achieved is between 41% and 54%. The algorithm also includes a robust skin-color segmentation insensitive to illumination changes. Selective range processing results in dynamic regional range images (DRRIs). This development is also placed in a broader context of a biological visual system emulation, specifically redundancies and attention mechanisms.

  20. Development of algorithms for real time track selection in the TOTEM experiment

    CERN Document Server

    Minafra, Nicola; Radicioni, E

    The TOTEM experiment at the LHC has been designed to measure the total proton-proton cross-section with a luminosity independent method and to study elastic and diffractive scattering at energy up to 14 TeV in the center of mass. Elastic interactions are detected by Roman Pot stations, placed at 147m and 220m along the two exiting beams. At the present time, data acquired by these detectors are stored on disk without any data reduction by the data acquisition chain. In this thesis several tracking and selection algorithms, suitable for real-time implementation in the firmware of the back-end electronics, have been proposed and tested using real data.

  1. Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping.

    Science.gov (United States)

    Navarro, Joan; Grémillet, David; Afán, Isabel; Ramírez, Francisco; Bouten, Willem; Forero, Manuela G

    2016-01-01

    Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis). In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal coverage, even of the most hazardous sites, while GPS data accessibility through the internet enables rapid intervention. Our results suggest that multi-species guilds of feathered detectives equipped with GPS and cameras could help fight illegal dumping at continental scales. We encourage further experimental studies, to infer waste detection thresholds in gulls and other scavenging species exploiting human waste dumps. PMID:27448048

  2. Real-time tracking data drive process improvements, even while ED volumes continue to climb.

    Science.gov (United States)

    2012-06-01

    Christiana Hospital in Newark, DE, has been able to dramatically reduce length-of-stay in the ED by making use of data derived from a real-time location system (RTLS) that tracks the movements of patients, providers, and staff. Administrators say that while some efficiencies are gained from the system alone, most of the positive impact is derived from using the RTLS data to focus on specific processes and make refinements. Within one year of implementing the RTLS technology, LOS in the ED was reduced by 40 minutes for admitted patients and 18 to 20 minutes for the treated-and-released population. A work group focused on process improvements in the ED's fast track section reduced the average LOS from 2.5 hours to 60 minutes or less. Similarly, a work group focused on the ESI 3 population reduced the average treatment time for this population from 5 or 6 hours to 3.4 hours. Administrators say key steps toward a successful RTLS implementation are careful planning for how you want to use the technology, and alleviating staff concerns about why their movements are being tracked. PMID:22645845

  3. Real-time Face Detection and Tracking Using Haar Classifier on SoC

    Directory of Open Access Journals (Sweden)

    Rajashree Tripathy

    2014-03-01

    Full Text Available In this paper we intend to Implement a real time Face detection and tracking the head poses position from high definition video using Haar Classifier through Raspberry Pi BCM2835 CPU processor which is a combination of SoC with GPU based Architecture. OV5647 CMOS Image sensor with 5-megapixel used for obtaining high definition video H.264 video data via GPU’s hardware video decoder to improve the playback of H.264 Video data supporting from 1080p at 30fps with complete user control over formatting and output data transfer also supporting with 720p/60HD video in full field of View(FOV. SimpleCV and OpenCV libraries are used for face detection and tracking the head poses position. The experimental result computed by using computer vision SimpleCV and OpenCV framework libraries along with above mentioned hardware results were obtained through of 30 fps under 1080p resolutions for higher accuracy and speediness for face detection and tracking the head poses position.

  4. Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping

    Science.gov (United States)

    Grémillet, David; Afán, Isabel; Ramírez, Francisco; Bouten, Willem; Forero, Manuela G.

    2016-01-01

    Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis). In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal coverage, even of the most hazardous sites, while GPS data accessibility through the internet enables rapid intervention. Our results suggest that multi-species guilds of feathered detectives equipped with GPS and cameras could help fight illegal dumping at continental scales. We encourage further experimental studies, to infer waste detection thresholds in gulls and other scavenging species exploiting human waste dumps. PMID:27448048

  5. Image processing algorithm design and implementation for real-time autonomous inspection of mixed waste

    International Nuclear Information System (INIS)

    The ARIES number-sign 1 (Autonomous Robotic Inspection Experimental System) vision system is used to acquire drum surface images under controlled conditions and subsequently perform autonomous visual inspection leading to a classification as 'acceptable' or 'suspect'. Specific topics described include vision system design methodology, algorithmic structure,hardware processing structure, and image acquisition hardware. Most of these capabilities were demonstrated at the ARIES Phase II Demo held on Nov. 30, 1995. Finally, Phase III efforts are briefly addressed

  6. Image processing algorithm design and implementation for real-time autonomous inspection of mixed waste

    Energy Technology Data Exchange (ETDEWEB)

    Schalkoff, R.J.; Shaaban, K.M.; Carver, A.E. [Clemson Univ., SC (United States). Dept. of Electrical and Computer Engineering

    1996-12-31

    The ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System) vision system is used to acquire drum surface images under controlled conditions and subsequently perform autonomous visual inspection leading to a classification as `acceptable` or `suspect`. Specific topics described include vision system design methodology, algorithmic structure,hardware processing structure, and image acquisition hardware. Most of these capabilities were demonstrated at the ARIES Phase II Demo held on Nov. 30, 1995. Finally, Phase III efforts are briefly addressed.

  7. Real-time automated road, lane and car detection for autonomous driving

    OpenAIRE

    Birdal, Tolga; Erçil, Aytül; Ercil, Aytul

    2007-01-01

    In this paper, we discuss a vision based system for autonomous guidance of vehicles. An autonomous intelligent vehicle has to perform a number of functionalities. Segmentation of the road, determining the boundaries to drive in and recognizing the vehicles and obstacles around are the main tasks for vision guided vehicle navigation. In this article we propose a set of algorithms which lead to the solution of road and vehicle segmentation using data from a color camera. The algorithms descr...

  8. A Concept of Dynamically Reconfigurable Real-Time Vision System for Autonomous Mobile Robotics.

    OpenAIRE

    De Cabrol, Aymeric; Garcia, Thibault; Bonnin, Patrick; Chetto, Maryline

    2007-01-01

    International audience Abstract: In this article, we describe specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC based hardware architecture is convenient in this field because of its versatility, its flexibility, its performance and its cost, current real-time operating systems are not completely adapted to long processings with varying duration, and it is often necessary to oversize the system to guarantee fail-safe functioning. Also, interactio...

  9. Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Via, Riccardo, E-mail: riccardo.via@polimi.it; Fassi, Aurora; Fattori, Giovanni [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano 20133 (Italy); Fontana, Giulia; Pella, Andrea; Tagaste, Barbara; Ciocca, Mario [CNAO Centro Nazionale di Adroterapia Oncologica, Pavia 27100 (Italy); Riboldi, Marco; Baroni, Guido [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano 20133, Italy and CNAO Centro Nazionale di Adroterapia Oncologica, Pavia 27100 (Italy); Orecchia, Roberto [CNAO Centro Nazionale di Adroterapia Oncologica, Pavia 27100, Italy and European Institute of Oncology, Milano 20141 (Italy)

    2015-05-15

    Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring

  10. Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy

    International Nuclear Information System (INIS)

    Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring

  11. Autonomous and 3D real-time multi-beam manipulation in a microfluidic environment

    DEFF Research Database (Denmark)

    Perch-Nielsen, I.; Rodrigo, P.J.; Alonzo, C.A.; Glückstad, J.

    2006-01-01

    The Generalized Phase Contrast (GPC) method of optical 3D manipulation has previously been used for controlled spatial manipulation of live biological specimen in real-time. These biological experiments were carried out over a time-span of several hours while an operator intermittently optimized...... camera, and respond to this by instantly creating traps at positions of the spotted cells streaming at flow velocities that would be difficult for a human operator to handle. With the added ability to control flow rates, experiments were also carried out to confirm the theoretically predicted axially...

  12. Respiratory-Induced Prostate Motion Using Wavelet Decomposition of the Real-Time Electromagnetic Tracking Signal

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Yuting [Tu and Yuen Center for Functional Onco-Imaging, Department of Radiological Sciences, University of California, Irvine, California (United States); Liu, Tian; Yang, Xiaofeng [Department of Radiation Oncology, Emory University Hospital, Winship Cancer Institute, Atlanta, Georgia (United States); Wang, Yuenan [Center for Devices and Radiological Health, US Food and Drug Administration, Silver Spring, Maryland (United States); Khan, Mohammad K., E-mail: drkhurram2000@gmail.com [Department of Radiation Oncology, Emory University Hospital, Winship Cancer Institute, Atlanta, Georgia (United States)

    2013-10-01

    Purpose: The objective of this work is to characterize and quantify the impact of respiratory-induced prostate motion. Methods and Materials: Real-time intrafraction motion is observed with the Calypso 4-dimensional nonradioactive electromagnetic tracking system (Calypso Medical Technologies, Inc. Seattle, Washington). We report the results from a total of 1024 fractions from 31 prostate cancer patients. Wavelet transform was used to decompose the signal to extract and isolate the respiratory-induced prostate motion from the total prostate displacement. Results: Our results show that the average respiratory motion larger than 0.5 mm can be observed in 68% of the fractions. Fewer than 1% of the patients showed average respiratory motion of less than 0.2 mm, whereas 99% of the patients showed average respiratory-induced motion ranging between 0.2 and 2 mm. The maximum respiratory range of motion of 3 mm or greater was seen in only 25% of the fractions. In addition, about 2% patients showed anxiety, indicated by a breathing frequency above 24 times per minute. Conclusions: Prostate motion is influenced by respiration in most fractions. Real-time intrafraction data are sensitive enough to measure the impact of respiration by use of wavelet decomposition methods. Although the average respiratory amplitude observed in this study is small, this technique provides a tool that can be useful if one moves to smaller treatment margins (≤5 mm). This also opens ups the possibility of being able to develop patient specific margins, knowing that prostate motion is not unpredictable.

  13. A Concept of Dynamically Reconfigurable Real-time Vision System for Autonomous Mobile Robotics

    Institute of Scientific and Technical Information of China (English)

    Aymeric De Cabrol; Thibault Garcia; Patrick Bonnin; Maryline Chetto

    2008-01-01

    This paper describes specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC-based hardware architecture is convenient in this field because of its versatility, flexibility, performance, and cost, current real-time operating systems are not completely adapted to long processing with varying duration, and it is often necessary to oversize the system to guarantee fail-safe functioning. Also, interactions with other robotic tasks having more priority are difficult to handle. To answer this problem, we have developed a dynamically reconfigurable vision processing system, based on the innovative features of Cleopatre real-time applicative layer concerning scheduling and fault tolerance. This framework allows to define emergency and optional tasks to ensure a minimal quality of service for the other subsystems of the robot, while allowing to adapt dynamically vision processing chain to an exceptional everlasting vision process or processor overload. Thus, it allows a better cohabitation of several subsystems in a single hardware, and to develop less expensive but safe systems, as they will be designed for the regular case and not rare exceptional ones. Finally, it brings a new way to think and develop vision systems, with pairs of complementary operators.

  14. Swarming visual sensor network for real-time multiple object tracking

    Science.gov (United States)

    Baranov, Yuri P.; Yarishev, Sergey N.; Medvedev, Roman V.

    2016-04-01

    Position control of multiple objects is one of the most actual problems in various technology areas. For example, in construction area this problem is represented as multi-point deformation control of bearing constructions in order to prevent collapse, in mining - deformation control of lining constructions, in rescue operations - potential victims and sources of ignition location, in transport - traffic control and traffic violations detection, in robotics -traffic control for organized group of robots and many other problems in different areas. Usage of stationary devices for solving these problems is inappropriately due to complex and variable geometry of control areas. In these cases self-organized systems of moving visual sensors is the best solution. This paper presents a concept of scalable visual sensor network with swarm architecture for multiple object pose estimation and real-time tracking. In this article recent developments of distributed measuring systems were reviewed with consequent investigation of advantages and disadvantages of existing systems, whereupon theoretical principles of design of swarming visual sensor network (SVSN) were declared. To measure object coordinates in the world coordinate system using TV-camera intrinsic (focal length, pixel size, principal point position, distortion) and extrinsic (rotation matrix, translation vector) calibration parameters were needed to be determined. Robust camera calibration was a too resource-intensive task for using moving camera. In this situation position of the camera is usually estimated using a visual mark with known parameters. All measurements were performed in markcentered coordinate systems. In this article a general adaptive algorithm of coordinate conversion of devices with various intrinsic parameters was developed. Various network topologies were reviewed. Minimum error in objet tracking was realized by finding the shortest path between object of tracking and bearing sensor, which set

  15. Autonomously Bioluminescent Mammalian Cells For Continuous And Real-Time Monitoring Of Cytotoxicity

    OpenAIRE

    Xu, Tingting; Close, Dan M.; Webb, James D; Ripp, Steven A.; Sayler, Gary S.

    2013-01-01

    Mammalian cell-based in vitro assays have been widely employed as alternatives to animal testing for toxicological studies but have been limited due to the high monetary and time costs of parallel sample preparation that are necessitated due to the destructive nature of firefly luciferase-based screening methods. This video describes the utilization of autonomously bioluminescent mammalian cells, which do not require the destructive addition of a luciferin substrate, as an inexpensive and fac...

  16. A real-time image understanding system for an autonomous mobile robot

    OpenAIRE

    Remias, Leonard V.

    1996-01-01

    Approved for public release, distribution is unlimited Yamabico-11 is an autonomous mobile robot used as a research platform with one area in image understanding. Previous work focused on edge detection analysis on a Silicon Graphics Iris (SGI) workstation with no method for implementation on the robot. Yamabico-11 does not have an on-board image processing capability to detect straight edges in a grayscale image and a method for allowing the user to analyze the data. The approach taken fo...

  17. Real-time scheduling and synchronization for the NPS Autonomous Underwater Vehicle

    OpenAIRE

    Makris, Dionysios

    1991-01-01

    The work described in this thesis is part of a multi-year research project to develop an Autonomous Underwater Vehicle (AUV-II), which is an intelligent robot submarine, carried out by the Departments of Mechanical Engineering, Computer Science, and Electrical and Computer Engineering of the Naval Postgraduate School. The AUV-II on-board computer must perform several different tasks such as navigation, autopilot, guidance, sonar processing and collision avoidance, etc., under strict timing c...

  18. A novel autonomous real-time position method based on polarized light and geomagnetic field

    Science.gov (United States)

    Wang, Yinlong; Chu, Jinkui; Zhang, Ran; Wang, Lu; Wang, Zhiwen

    2015-04-01

    Many animals exploit polarized light in order to calibrate their magnetic compasses for navigation. For example, some birds are equipped with biological magnetic and celestial compasses enabling them to migrate between the Western and Eastern Hemispheres. The Vikings' ability to derive true direction from polarized light is also widely accepted. However, their amazing navigational capabilities are still not completely clear. Inspired by birds' and Vikings' ancient navigational skills. Here we present a combined real-time position method based on the use of polarized light and geomagnetic field. The new method works independently of any artificial signal source with no accumulation of errors and can obtain the position and the orientation directly. The novel device simply consists of two polarized light sensors, a 3-axis compass and a computer. The field experiments demonstrate device performance.

  19. Online learning-based robust visual tracking for autonomous landing of Unmanned Aerial Vehicles

    OpenAIRE

    Fu, Changhong; Carrio Fernández, Adrián; Olivares Méndez, Miguel Ángel; Campoy Cervera, Pascual

    2014-01-01

    Autonomous landing is a challenging and important technology for both military and civilian applications of Unmanned Aerial Vehicles (UAVs). In this paper, we present a novel online adaptive visual tracking algorithm for UAVs to land on an arbitrary field (that can be used as the helipad) autonomously at real-time frame rates of more than twenty frames per second. The integration of low-dimensional subspace representation method, online incremental learning approach and hierarchical tracking ...

  20. Real-time object detection and tracking in omni-directional surveillance using GPU

    Science.gov (United States)

    Depraz, Florian; Popovic, Vladan; Ott, Beat; Wellig, Peter; Leblebici, Yusuf

    2015-10-01

    Recent technological advancements in hardware systems have made higher quality cameras. State of the art panoramic systems use them to produce videos with a resolution of 9000 x 2400 pixels at a rate of 30 frames per second (fps) [1]. Many modern applications use object tracking to determine the speed and the path taken by each object moving through a scene. The detection requires detailed pixel analysis between two frames. In fields like surveillance systems or crowd analysis, this must be achieved in real time. Graphics Processing Units (GPUs) are powerful devices with lots of processing capabilities for parallel jobs. The detection of objects in a scene requires large amount of independent pixel operations on the video frames that can be done in parallel, making GPU a good choice for the processing platform. This paper only concentrates on Background Subtraction Techniques [2] to detect the objects present in the scene. The foreground pixels are extracted from the processed frame and compared to the corresponding ones of the model. Using a connected- component detector, neighboring pixels are gathered in order to form blobs which correspond to the detected foreground objects. The new blobs are compared to the blobs formed in the previous frame to see if the corresponding object moved.

  1. Energy Tracking in Classrooms - A Real Time Experiment with Grade 5 Students

    Science.gov (United States)

    Lam, H. M.; Ho, F.

    2015-12-01

    ISF Academy, a K-G12 school in Hong Kong with over 1500 students and currently spanning 3 buildings, is retrofitting the school with an energy tracking system in three phases. The first phase during the fall of 2015 will include retrofitting eight Grade 5 classrooms. This new program will show the daily energy usage data from these classrooms. The Grade 5 students receive feedback on their energy use in real time as they compete over two months in their homeroom classes to lower their electrical use, and subsequently their carbon footprint. This competition style initiative will teach the 180 Grade 5 students about their energy usage in a fun and informative manner. ISF Academy has over 400 air-conditioners and we have already determined that the air conditioners are the largest single use of energy in the school. The energy tracking system installed and maintained by from Global Design Corporation utilizes uniquely identified current detectors attached to circuit breakers, to monitor electrical use of individual circuits. These detectors will also monitor the energy used for classroom lighting, fans and plugs, as well as the air conditioners. The system has been installed and the Grade 5 classrooms averaged between 40 kWh and 120 kWh of usage in May 2015. This data will be used as the baseline for the competition. Further analysis can also be done with the data, such as calculating the carbon emissions reduction throughout the school year, providing possible class learning activities and also aiding in future energy use and carbon footprint predictions. The data collected will help refine phase 2 and 3 of the installation, expanding the system to more buildings and also giving insight to the rollout of the system to the whole school when the systems are fully in place.

  2. Real-time self-calibration of a tracked augmented reality display

    Science.gov (United States)

    Baum, Zachary; Lasso, Andras; Ungi, Tamas; Fichtinger, Gabor

    2016-03-01

    PURPOSE: Augmented reality systems have been proposed for image-guided needle interventions but they have not become widely used in clinical practice due to restrictions such as limited portability, low display refresh rates, and tedious calibration procedures. We propose a handheld tablet-based self-calibrating image overlay system. METHODS: A modular handheld augmented reality viewbox was constructed from a tablet computer and a semi-transparent mirror. A consistent and precise self-calibration method, without the use of any temporary markers, was designed to achieve an accurate calibration of the system. Markers attached to the viewbox and patient are simultaneously tracked using an optical pose tracker to report the position of the patient with respect to a displayed image plane that is visualized in real-time. The software was built using the open-source 3D Slicer application platform's SlicerIGT extension and the PLUS toolkit. RESULTS: The accuracy of the image overlay with image-guided needle interventions yielded a mean absolute position error of 0.99 mm (95th percentile 1.93 mm) in-plane of the overlay and a mean absolute position error of 0.61 mm (95th percentile 1.19 mm) out-of-plane. This accuracy is clinically acceptable for tool guidance during various procedures, such as musculoskeletal injections. CONCLUSION: A self-calibration method was developed and evaluated for a tracked augmented reality display. The results show potential for the use of handheld image overlays in clinical studies with image-guided needle interventions.

  3. Autonomous real-time detection of plumes and jets from moons and comets

    International Nuclear Information System (INIS)

    Dynamic activity on the surface of distant moons, asteroids, and comets can manifest as jets or plumes. These phenomena provide information about the interior of the bodies and the forces (gravitation, radiation, thermal) they experience. Fast detection and follow-up study is imperative since the phenomena may be time-varying and because the observing window may be limited (e.g., during a flyby). We have developed an advanced method for real-time detection of plumes and jets using onboard analysis of the data as it is collected. In contrast to prior work, our technique is not restricted to plume detection from spherical bodies, making it relevant for irregularly shaped bodies such as comets. Further, our study analyzes raw data, the form in which it is available on board the spacecraft, rather than fully processed image products. In summary, we contribute a vital assessment of a technique that can be used on board tomorrow's deep space missions to detect, and respond quickly to, new occurrences of plumes and jets.

  4. A Framework for Real-Time Face and Facial Feature Tracking using Optical Flow Pre-estimation and Template Tracking

    CERN Document Server

    Gast, E R

    2011-01-01

    This work presents a framework for tracking head movements and capturing the movements of the mouth and both the eyebrows in real-time. We present a head tracker which is a combination of a optical flow and a template based tracker. The estimation of the optical flow head tracker is used as starting point for the template tracker which fine-tunes the head estimation. This approach together with re-updating the optical flow points prevents the head tracker from drifting. This combination together with our switching scheme, makes our tracker very robust against fast movement and motion-blur. We also propose a way to reduce the influence of partial occlusion of the head. In both the optical flow and the template based tracker we identify and exclude occluded points.

  5. Data acquisition electronics and reconstruction software for real time 3D track reconstruction within the MIMAC project

    CERN Document Server

    Bourrion, O; Grignon, C; Bouly, J L; Richer, J P; Guillaudin, O; Mayet, F; Billard, J; Santos, D

    2011-01-01

    Directional detection of non-baryonic Dark Matter requires 3D reconstruction of low energy nuclear recoils tracks. A gaseous micro-TPC matrix, filled with either 3He, CF4 or C4H10 has been developed within the MIMAC project. A dedicated acquisition electronics and a real time track reconstruction software have been developed to monitor a 512 channel prototype. This autotriggered electronic uses embedded processing to reduce the data transfer to its useful part only, i.e. decoded coordinates of hit tracks and corresponding energy measurements. An acquisition software with on-line monitoring and 3D track reconstruction is also presented.

  6. Data acquisition electronics and reconstruction software for real time 3D track reconstruction within the MIMAC project

    International Nuclear Information System (INIS)

    Directional detection of non-baryonic Dark Matter requires 3D reconstruction of low energy nuclear recoils tracks. A gaseous micro-TPC matrix, filled with either 3He, CF4 or C4H10 has been developed within the MIMAC project. A dedicated acquisition electronics and a real time track reconstruction software have been developed to monitor a 512 channel prototype. This auto-triggered electronic uses embedded processing to reduce the data transfer to its useful part only, i.e. decoded coordinates of hit tracks and corresponding energy measurements. An acquisition software with on-line monitoring and 3D track reconstruction is also presented.

  7. Virtual decoupling flight control via real-time trajectory synthesis and tracking

    Science.gov (United States)

    Zhang, Xuefu

    The production of the General Aviation industry has declined in the past 25 years. Ironically, however, the increasing demand for air travel as a fast, safe, and high-quality mode of transportation has been far from satisfied. Addressing this demand shortfall with personal air transportation necessitates advanced systems for navigation, guidance, control, flight management, and flight traffic control. Among them, an effective decoupling flight control system will not only improve flight quality, safety, and simplicity, and increase air space usage, but also reduce expenses on pilot initial and current training, and thus expand the current market and explore new markets. Because of the formidable difficulties encountered in the actual decoupling of non-linear, time-variant, and highly coupled flight control systems through traditional approaches, a new approach, which essentially converts the decoupling problem into a real-time trajectory synthesis and tracking problem, is employed. Then, the converted problem is solved and a virtual decoupling effect is achieved. In this approach, a trajectory in inertial space can be predefined and dynamically modified based on the flight mission and the pilot's commands. A feedforward-feedback control architecture is constructed to guide the airplane along the trajectory as precisely as possible. Through this approach, the pilot has much simpler, virtually decoupled control of the airplane in terms of speed, flight path angle and horizontal radius of curvature. To verify and evaluate this approach, extensive computer simulation is performed. A great deal of test cases are designed for the flight control under different flight conditions. The simulation results show that our decoupling strategy is satisfactory and promising, and therefore the research can serve as a consolidated foundation for future practical applications.

  8. Real-time cardiac surface tracking from sparse samples using subspace clustering and maximum-likelihood linear regressors

    Science.gov (United States)

    Singh, Vimal; Tewfik, Ahmed H.

    2011-03-01

    Cardiac minimal invasive surgeries such as catheter based radio frequency ablation of atrial fibrillation requires high-precision tracking of inner cardiac surfaces in order to ascertain constant electrode-surface contact. Majority of cardiac motion tracking systems are either limited to outer surface or track limited slices/sectors of inner surface in echocardiography data which are unrealizable in MIS due to the varying resolution of ultrasound with depth and speckle effect. In this paper, a system for high accuracy real-time 3D tracking of both cardiac surfaces using sparse samples of outer-surface only is presented. This paper presents a novel approach to model cardiac inner surface deformations as simple functions of outer surface deformations in the spherical harmonic domain using multiple maximal-likelihood linear regressors. Tracking system uses subspace clustering to identify potential deformation spaces for outer surfaces and trains ML linear regressors using pre-operative MRI/CT scan based training set. During tracking, sparse-samples from outer surfaces are used to identify the active outer surface deformation space and reconstruct outer surfaces in real-time under least squares formulation. Inner surface is reconstructed using tracked outer surface with trained ML linear regressors. High-precision tracking and robustness of the proposed system are demonstrated through results obtained on a real patient dataset with tracking root mean square error <= (0.23 +/- 0.04)mm and <= (0.30 +/- 0.07)mm for outer & inner surfaces respectively.

  9. Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals

    NARCIS (Netherlands)

    Vaquero, V.; Repiso, E.; Sanfeliu, A.; Vissers, J.; Kwakkernaat, M.

    2016-01-01

    The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm

  10. Multi-GPU based framework for real-time motion analysis and tracking in multi-user scenarios

    Directory of Open Access Journals (Sweden)

    Sidi Ahmed Mahmoudi

    2015-02-01

    Full Text Available Video processing algorithms present a necessary tool for various domains related to computer vision such as motion tracking, event detection and localization in multi-user scenarios (crowd videos, mobile camera, scenes with noise, etc.. However, the new video standards, especially those in high definitions require more computation since their treatment is applied on large video frames. As result, the current implementations, even running on modern hardware, cannot provide a real-time processing (25 frames per second, fps. Several solutions have been proposed to overcome this constraint, by exploiting graphic processing units (GPUs. Although they exploit GPU platforms, they are not able to provide a real-time processing of high definition video sequences. In this work, we propose a new framework that enables an efficient exploitation of single and multiple GPUs, in order to achieve real-time processing of Full HD or even 4K video standards. Moreover, the framework includes several GPU based primitive functions related to motion analysis and tracking methods, such as silhouette extraction, contours extraction, corners detection and tracking using optical flow estimation. Based on this framework, we developed several real-time and GPU based video processing applications such as motion detection using moving camera, event detection and event localization

  11. A frequency response analysis approach for quantitative assessment of actuator tracking for real-time hybrid simulation

    International Nuclear Information System (INIS)

    Real-time hybrid simulation is a viable and economical technique that allows researchers to observe the behavior of critical elements at full scale when an entire structure is subjected to dynamic loading. To ensure reliable experimental results, it is necessary to evaluate the actuator tracking after the test, even when sophisticated compensation methods are used to negate the detrimental effect of servo-hydraulic dynamics. Existing methods for assessment of actuator tracking are often based on time-domain analysis. This paper proposes a frequency-domain-based approach to the assessment of actuator tracking for real-time hybrid simulations. To ensure the accuracy of the proposed frequency response approach, the effects of spectrum leakage are investigated as well as the length and sampling frequency requirements of the signals. Two signal pre-processing techniques (data segmentation and window transform) are also discussed and compared to improve the accuracy of the proposed approach. Finally the effectiveness of the proposed frequency-domain-based approach is demonstrated through both computational analyses and laboratory tests, including real-time tests with predefined displacement and real-time hybrid simulation. (paper)

  12. A frequency response analysis approach for quantitative assessment of actuator tracking for real-time hybrid simulation

    Science.gov (United States)

    Guo, Tong; Chen, Cheng; Xu, WeiJie; Sanchez, Frank

    2014-04-01

    Real-time hybrid simulation is a viable and economical technique that allows researchers to observe the behavior of critical elements at full scale when an entire structure is subjected to dynamic loading. To ensure reliable experimental results, it is necessary to evaluate the actuator tracking after the test, even when sophisticated compensation methods are used to negate the detrimental effect of servo-hydraulic dynamics. Existing methods for assessment of actuator tracking are often based on time-domain analysis. This paper proposes a frequency-domain-based approach to the assessment of actuator tracking for real-time hybrid simulations. To ensure the accuracy of the proposed frequency response approach, the effects of spectrum leakage are investigated as well as the length and sampling frequency requirements of the signals. Two signal pre-processing techniques (data segmentation and window transform) are also discussed and compared to improve the accuracy of the proposed approach. Finally the effectiveness of the proposed frequency-domain-based approach is demonstrated through both computational analyses and laboratory tests, including real-time tests with predefined displacement and real-time hybrid simulation.

  13. Real-time visual sensing system achieving high-speed 3D particle tracking with nanometer resolution.

    Science.gov (United States)

    Cheng, Peng; Jhiang, Sissy M; Menq, Chia-Hsiang

    2013-11-01

    This paper presents a real-time visual sensing system, which is created to achieve high-speed three-dimensional (3D) motion tracking of microscopic spherical particles in aqueous solutions with nanometer resolution. The system comprises a complementary metal-oxide-semiconductor (CMOS) camera, a field programmable gate array (FPGA), and real-time image processing programs. The CMOS camera has high photosensitivity and superior SNR. It acquires images of 128×120 pixels at a frame rate of up to 10,000 frames per second (fps) under the white light illumination from a standard 100 W halogen lamp. The real-time image stream is downloaded from the camera directly to the FPGA, wherein a 3D particle-tracking algorithm is implemented to calculate the 3D positions of the target particle in real time. Two important objectives, i.e., real-time estimation of the 3D position matches the maximum frame rate of the camera and the timing of the output data stream of the system is precisely controlled, are achieved. Two sets of experiments were conducted to demonstrate the performance of the system. First, the visual sensing system was used to track the motion of a 2 μm polystyrene bead, whose motion was controlled by a three-axis piezo motion stage. The ability to track long-range motion with nanometer resolution in all three axes is demonstrated. Second, it was used to measure the Brownian motion of the 2 μm polystyrene bead, which was stabilized in aqueous solution by a laser trapping system. PMID:24216655

  14. TRACKING IN REAL-TIME THE PROPAGATION OF PYROCLASTIC DENSITY CURRENTS BY INFRASONIC ARRAY

    Science.gov (United States)

    Ripepe, M.; de Angelis, S.; Lacanna, G.; Poggi, P.; Marchetti, E.; Delle Donne, D.; Ulivieri, G.

    2009-12-01

    Infrasound is the low-frequency component of sound, ranging from 0.001 to about 20 hertz, below the human threshold of hearing. Many natural phenomena such as earthquakes, avalanches, landslides, tornadoes, and tsunamis are efficient sources of infrasound. Explosive volcanic eruptions typically show a huge column of ash and debris ejected into the stratosphere, which can trigger fast moving avalanches of hot (400°C) gas and rock (pyroclastic flows) that can rush down the volcano’s flanks at speeds approaching 200-300 km/h. On volcanoes characterized by a lava dome growth such as Soufriere Hills volcano (SHV) on Montserrat (WI), infrasound is generated also by these non-explosive sources related to the dome collapses, such as pyroclastic flows, rockfalls, debris flow and lahars which can quickly overwhelm communities living in the shadow of volcanoes. The ability to detect and track the propagation of these large and devastating pyroclastic density currents in a timely fashion is crucial to volcano monitoring operations and can positively affect risk management on many volcanoes. We installed an infrasonic array on Montserrat at about 3000 m from the active dome on SHV. The array has an aperture of 200 m and a “star” geometry of 3 satellite sensors located 100 m from a central station. The array detected and located in real-time the infrasound associated with several pyroclastic flows estimating the speed and the direction of the flow and revealing the presence of several pulses within the same density current. The azimuthal direction of the infrasound changed with time during the flow indicating a mean speed of 160-175 km/h. Infrasound monitoring exhibits a great potential for integration with other geophysical measurements, particularly seismic, and may assist with their interpretation yielding information on the mechanisms and the propagation of pyroclastic flows as well as other density currents (such as avalanches and landslides), which are characterized

  15. Histopathologic Consideration of Fiducial Gold Markers Inserted for Real-Time Tumor-Tracking Radiotherapy Against Lung Cancer

    International Nuclear Information System (INIS)

    Purpose: Internal fiducial gold markers, safely inserted with bronchoscopy, have been used in real-time tumor-tracking radiotherapy for lung cancer. We investigated the histopathologic findings at several points after the insertion of the gold markers. Methods and Materials: Sixteen gold markers were inserted for preoperative marking in 7 patients who subsequently underwent partial resection of tumors by video-assisted thoracoscopic surgery within 7 days. Results: Fibrotic changes and hyperplasia of type 2 pneumocytes around the markers were seen 5 or 7 days after insertion, and fibrin exudation without fibrosis was detected 1 or 2 days after insertion. Conclusions: Because fibroblastic changes start approximately 5 days after gold marker insertion, real-time tumor-tracking radiotherapy should be started >5 days after gold marker insertion

  16. Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

    OpenAIRE

    Dachuan Li; Qing Li; Nong Cheng; Jingyan Song

    2014-01-01

    This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-l...

  17. Real-time drogue recognition and 3D locating for UAV autonomous aerial refueling based on monocular machine vision

    Institute of Scientific and Technical Information of China (English)

    Wang Xufeng; Kong Xingwei; Zhi Jianhui; Chen Yong; Dong Xinmin

    2015-01-01

    Drogue recognition and 3D locating is a key problem during the docking phase of the autonomous aerial refueling (AAR). To solve this problem, a novel and effective method based on monocular vision is presented in this paper. Firstly, by employing computer vision with red-ring-shape feature, a drogue detection and recognition algorithm is proposed to guarantee safety and ensure the robustness to the drogue diversity and the changes in environmental condi-tions, without using a set of infrared light emitting diodes (LEDs) on the parachute part of the dro-gue. Secondly, considering camera lens distortion, a monocular vision measurement algorithm for drogue 3D locating is designed to ensure the accuracy and real-time performance of the system, with the drogue attitude provided. Finally, experiments are conducted to demonstrate the effective-ness of the proposed method. Experimental results show the performances of the entire system in contrast with other methods, which validates that the proposed method can recognize and locate the drogue three dimensionally, rapidly and precisely.

  18. Real-time drogue recognition and 3D locating for UAV autonomous aerial refueling based on monocular machine vision

    Directory of Open Access Journals (Sweden)

    Wang Xufeng

    2015-12-01

    Full Text Available Drogue recognition and 3D locating is a key problem during the docking phase of the autonomous aerial refueling (AAR. To solve this problem, a novel and effective method based on monocular vision is presented in this paper. Firstly, by employing computer vision with red-ring-shape feature, a drogue detection and recognition algorithm is proposed to guarantee safety and ensure the robustness to the drogue diversity and the changes in environmental conditions, without using a set of infrared light emitting diodes (LEDs on the parachute part of the drogue. Secondly, considering camera lens distortion, a monocular vision measurement algorithm for drogue 3D locating is designed to ensure the accuracy and real-time performance of the system, with the drogue attitude provided. Finally, experiments are conducted to demonstrate the effectiveness of the proposed method. Experimental results show the performances of the entire system in contrast with other methods, which validates that the proposed method can recognize and locate the drogue three dimensionally, rapidly and precisely.

  19. Robust and Real Time Detection of Curvy Lanes (Curves Having Desired Slopes for Driving Assistance and Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Amartansh Dubey

    2015-01-01

    Full Text Available One of the biggest reasons for road accidents is cu rvy lanes and blind turns. Even one of the biggest hurdles for new autonomous vehicles is to d etect curvy lanes, multiple lanes and lanes with a lot of discontinuity and noise. This paper p resents very efficient and advanced algorithm for detecting curves having desired slopes (especia lly for detecting curvy lanes in real time and detection of curves (lanes with a lot of noise , discontinuity and disturbances. Overall aim is to develop robust method for this task which is applicable even in adverse conditions. Even in some of most famous and useful libraries like OpenC V and Matlab, there is no function available for detecting curves having desired slope s, shapes, discontinuities. Only few predefined shapes like circle, ellipse, etc, can be detected using presently available functions. Proposed algorithm can not only detect curves with discontinuity, noise, desired slope but also it can perform shadow and illumination correction a nd detect/ differentiate between different curves.

  20. The dosimetric impact of inversely optimized arc radiotherapy plan modulation for real-time dynamic MLC tracking delivery

    DEFF Research Database (Denmark)

    Falk, Marianne; Larsson, Tobias; Keall, Paul;

    2012-01-01

    Purpose: Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced by...... MLC tracking delivery of an inversely optimized arc radiotherapy plan can be improved by incorporating leaf position constraints in the objective function without otherwise affecting the plan quality. The dosimetric robustness may be estimated prior to delivery by evaluating the ALDw of the plan....

  1. A Real-Time Model-Based Human Motion Tracking and Analysis for Human-Computer Interface Systems

    Directory of Open Access Journals (Sweden)

    Chung-Lin Huang

    2004-09-01

    Full Text Available This paper introduces a real-time model-based human motion tracking and analysis method for human computer interface (HCI. This method tracks and analyzes the human motion from two orthogonal views without using any markers. The motion parameters are estimated by pattern matching between the extracted human silhouette and the human model. First, the human silhouette is extracted and then the body definition parameters (BDPs can be obtained. Second, the body animation parameters (BAPs are estimated by a hierarchical tritree overlapping searching algorithm. To verify the performance of our method, we demonstrate different human posture sequences and use hidden Markov model (HMM for posture recognition testing.

  2. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Menten, Martin J., E-mail: martin.menten@icr.ac.uk; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe, E-mail: uwe.oelfke@icr.ac.uk [Joint Department of Physics at The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

    2015-12-15

    Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

  3. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

    International Nuclear Information System (INIS)

    Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

  4. Predicting respiratory motion for real-time tumour tracking in radiotherapy

    CERN Document Server

    Krilavicius, Tomas; Simonavicius, Henrikas; Jarusevicius, Laimonas

    2015-01-01

    Purpose. Radiation therapy is a local treatment aimed at cells in and around a tumor. The goal of this study is to develop an algorithmic solution for predicting the position of a target in 3D in real time, aiming for the short fixed calibration time for each patient at the beginning of the procedure. Accurate predictions of lung tumor motion are expected to improve the precision of radiation treatment by controlling the position of a couch or a beam in order to compensate for respiratory motion during radiation treatment. Methods. For developing the algorithmic solution, data mining techniques are used. A model form from the family of exponential smoothing is assumed, and the model parameters are fitted by minimizing the absolute disposition error, and the fluctuations of the prediction signal (jitter). The predictive performance is evaluated retrospectively on clinical datasets capturing different behavior (being quiet, talking, laughing), and validated in real-time on a prototype system with respiratory mo...

  5. Real-time, aptamer-based tracking of circulating therapeutic agents in living animals

    OpenAIRE

    Ferguson, B. Scott; Hoggarth, David A.; Maliniak, Dan; Ploense, Kyle; White, Ryan J.; Woodward, Nick; Hsieh, Kuangwen; Bonham, Andrew J.; Eisenstein, Michael; Kippin, Tod; Plaxco, Kevin W.; Soh, H. Tom

    2013-01-01

    A sensor capable of continuously measuring specific molecules in the bloodstream in vivo would give clinicians a valuable window into patients’ health and their response to therapeutics. Such technology would enable truly personalized medicine, wherein therapeutic agents could be tailored with optimal doses for each patient to maximize efficacy and minimize side effects. Unfortunately, continuous, real-time measurement is currently only possible for a handful of targets, such as glucose, lact...

  6. A low cost real-time motion tracking approach using webcam technology

    OpenAIRE

    Krishnan, Chandramouli; Washabaugh, Edward P.; Seetharaman, Yogesh

    2014-01-01

    Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject’s limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. Howe...

  7. Autonomous tracking of designated persons in crowded scenes

    Science.gov (United States)

    Heidary, Kaveh; Johnson, R. Barry

    2013-09-01

    This paper develops an algorithm for autonomous tracking of a person (target) within a crowded and temporally dynamic scene using a multispectral imaging system. The camera is stationary, the field of view is static, and the sensor pixel footprint is on the order of one inch. The operator designates the target to be tracked by selecting a single target-pixel in the first image frame, preferably close to the center of mass of the observable portion of the target in that particular frame. Following the initial designation, the algorithm provides tracking of the target in real-time autonomously with minimal latency. The tracking algorithm is based on a novel temporally adaptive spatial-spectral filter bank used to detect target presence or lack thereof in the field-of-regard of the video frame produced by the multispectral camera. The theory of the temporally adaptive spatial-spectral filter is based on an extension of our earlier work on the enhanced matched filter bank (EMFB). The concept of EMFB is founded on the theory of spatial matched filters, which is the optimal correlation filter for detection of a known image corrupted by noise.

  8. Real-time ultrasound-tagging to track the 2D motion of the common carotid artery wall in vivo

    Energy Technology Data Exchange (ETDEWEB)

    Zahnd, Guillaume, E-mail: g.zahnd@erasmusmc.nl [Biomedical Imaging Group Rotterdam, Departments of Radiology and Medical Informatics, Erasmus MC, Rotterdam 3000 CA (Netherlands); Salles, Sébastien; Liebgott, Hervé; Vray, Didier [Université de Lyon, CREATIS, CNRS UMR 5220, INSERM U1044, INSA-Lyon, Université Lyon 1, Lyon 69100 (France); Sérusclat, André [Department of Radiology, Louis Pradel Hospital, Lyon 69500 (France); Moulin, Philippe [Department of Endocrinology, Louis Pradel Hospital, Hospices Civils de Lyon, Université Lyon 1, Lyon 69100, France and INSERM UMR 1060, Lyon 69500 (France)

    2015-02-15

    Purpose: Tracking the motion of biological tissues represents an important issue in the field of medical ultrasound imaging. However, the longitudinal component of the motion (i.e., perpendicular to the beam axis) remains more challenging to extract due to the rather coarse resolution cell of ultrasound scanners along this direction. The aim of this study is to introduce a real-time beamforming strategy dedicated to acquire tagged images featuring a distinct pattern in the objective to ease the tracking. Methods: Under the conditions of the Fraunhofer approximation, a specific apodization function was applied to the received raw channel data, in real-time during image acquisition, in order to introduce a periodic oscillations pattern along the longitudinal direction of the radio frequency signal. Analytic signals were then extracted from the tagged images, and subpixel motion tracking of the intima–media complex was subsequently performed offline, by means of a previously introduced bidimensional analytic phase-based estimator. Results: The authors’ framework was applied in vivo on the common carotid artery from 20 young healthy volunteers and 6 elderly patients with high atherosclerosis risk. Cine-loops of tagged images were acquired during three cardiac cycles. Evaluated against reference trajectories manually generated by three experienced analysts, the mean absolute tracking error was 98 ± 84 μm and 55 ± 44 μm in the longitudinal and axial directions, respectively. These errors corresponded to 28% ± 23% and 13% ± 9% of the longitudinal and axial amplitude of the assessed motion, respectively. Conclusions: The proposed framework enables tagged ultrasound images of in vivo tissues to be acquired in real-time. Such unconventional beamforming strategy contributes to improve tracking accuracy and could potentially benefit to the interpretation and diagnosis of biomedical images.

  9. Robust perception algorithms for road and track autonomous following

    Science.gov (United States)

    Marion, Vincent; Lecointe, Olivier; Lewandowski, Cecile; Morillon, Joel G.; Aufrere, Romuald; Marcotegui, Beatrix; Chapuis, Roland; Beucher, Serge

    2004-09-01

    The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales Airborne Systems as the prime contractor, focuses on about 15 robotic themes, which can provide an immediate "operational add-on value." The paper details the "road and track following" theme (named AUT2), which main purpose was to develop a vision based sub-system to automatically detect roadsides of an extended range of roads and tracks suitable to military missions. To achieve the goal, efforts focused on three main areas: (1) Improvement of images quality at algorithms inputs, thanks to the selection of adapted video cameras, and the development of a THALES patented algorithm: it removes in real time most of the disturbing shadows in images taken in natural environments, enhances contrast and lowers reflection effect due to films of water. (2) Selection and improvement of two complementary algorithms (one is segment oriented, the other region based) (3) Development of a fusion process between both algorithms, which feeds in real time a road model with the best available data. Each previous step has been developed so that the global perception process is reliable and safe: as an example, the process continuously evaluates itself and outputs confidence criteria qualifying roadside detection. The paper presents the processes in details, and the results got from passed military acceptance tests, which trigger the next step: autonomous track following (named AUT3).

  10. Multi-camera real-time three-dimensional tracking of multiple flying animals

    OpenAIRE

    Straw, Andrew D.; Branson, Kristin; Neumann, Titus R.; Dickinson, Michael H.

    2010-01-01

    Automated tracking of animal movement allows analyses that would not otherwise be possible by providing great quantities of data. The additional capability of tracking in real time—with minimal latency—opens up the experimental possibility of manipulating sensory feedback, thus allowing detailed explorations of the neural basis for control of behaviour. Here, we describe a system capable of tracking the three-dimensional position and body orientation of animals such as flies and birds. The sy...

  11. Tracking yarns in high resolution fabric images: a real-time approach for online fabric flaw detection

    Science.gov (United States)

    Schneider, Dorian

    2013-02-01

    An algorithmic framework for real-time localization of single yarns within industrial fabric images is presented. The information about precise yarn locations forms the foundation for a fabric flaw detection system which is based on individual yarn measurements. Matching a camera frame rate of 15 fps, we define the term "real-time" by the capability of tracking all yarns within a 5 megapixel image in less than 35 ms, leaving a time slot of 31ms for further image processing and defect detection algorithms. The processing pipeline comprises adaptive histogram equalization, Wiener deconvolution, normalized template matching and a novel feature point sorting scheme. To meet real-time requirements, extensive use of the NVIDIA CUDA framework is made. Implementation details are given and source code for selected algorithms is provided. Evaluation results show that wefts and warps can be tracked reliably and independently of the fabric material or binding. Video and image footage is provided on the project website to expand the paper content.

  12. Real-time x-ray fluoroscopy-based catheter detection and tracking for cardiac electrophysiology interventions

    International Nuclear Information System (INIS)

    Purpose: X-ray fluoroscopically guided cardiac electrophysiology (EP) procedures are commonly carried out to treat patients with arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of a three-dimensional (3D) roadmap derived from preprocedural volumetric images can be used to add anatomical information. It is useful to know the position of the catheter electrodes relative to the cardiac anatomy, for example, to record ablation therapy locations during atrial fibrillation therapy. Also, the electrode positions of the coronary sinus (CS) catheter or lasso catheter can be used for road map motion correction.Methods: In this paper, the authors present a novel unified computational framework for image-based catheter detection and tracking without any user interaction. The proposed framework includes fast blob detection, shape-constrained searching and model-based detection. In addition, catheter tracking methods were designed based on the customized catheter models input from the detection method. Three real-time detection and tracking methods are derived from the computational framework to detect or track the three most common types of catheters in EP procedures: the ablation catheter, the CS catheter, and the lasso catheter. Since the proposed methods use the same blob detection method to extract key information from x-ray images, the ablation, CS, and lasso catheters can be detected and tracked simultaneously in real-time.Results: The catheter detection methods were tested on 105 different clinical fluoroscopy sequences taken from 31 clinical procedures. Two-dimensional (2D) detection errors of 0.50 ± 0.29, 0.92 ± 0.61, and 0.63 ± 0.45 mm as well as success rates of 99.4%, 97.2%, and 88.9% were achieved for the CS catheter, ablation catheter, and lasso catheter, respectively. With the tracking method, accuracies were increased to 0.45 ± 0.28, 0.64 ± 0.37, and 0.53 ± 0.38 mm and success rates increased to 100%, 99.2%, and 96

  13. Real-time x-ray fluoroscopy-based catheter detection and tracking for cardiac electrophysiology interventions

    Energy Technology Data Exchange (ETDEWEB)

    Ma Yingliang; Housden, R. James; Razavi, Reza; Rhode, Kawal S. [Division of Imaging Sciences and Biomedical Engineering, King' s College London, London SE1 7EH (United Kingdom); Gogin, Nicolas; Cathier, Pascal [Medisys Research Group, Philips Healthcare, Paris 92156 (France); Gijsbers, Geert [Interventional X-ray, Philips Healthcare, Best 5680 DA (Netherlands); Cooklin, Michael; O' Neill, Mark; Gill, Jaswinder; Rinaldi, C. Aldo [Department of Cardiology, Guys and St. Thomas' Hospitals NHS Foundation Trust, London SE1 7EH (United Kingdom)

    2013-07-15

    Purpose: X-ray fluoroscopically guided cardiac electrophysiology (EP) procedures are commonly carried out to treat patients with arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of a three-dimensional (3D) roadmap derived from preprocedural volumetric images can be used to add anatomical information. It is useful to know the position of the catheter electrodes relative to the cardiac anatomy, for example, to record ablation therapy locations during atrial fibrillation therapy. Also, the electrode positions of the coronary sinus (CS) catheter or lasso catheter can be used for road map motion correction.Methods: In this paper, the authors present a novel unified computational framework for image-based catheter detection and tracking without any user interaction. The proposed framework includes fast blob detection, shape-constrained searching and model-based detection. In addition, catheter tracking methods were designed based on the customized catheter models input from the detection method. Three real-time detection and tracking methods are derived from the computational framework to detect or track the three most common types of catheters in EP procedures: the ablation catheter, the CS catheter, and the lasso catheter. Since the proposed methods use the same blob detection method to extract key information from x-ray images, the ablation, CS, and lasso catheters can be detected and tracked simultaneously in real-time.Results: The catheter detection methods were tested on 105 different clinical fluoroscopy sequences taken from 31 clinical procedures. Two-dimensional (2D) detection errors of 0.50 {+-} 0.29, 0.92 {+-} 0.61, and 0.63 {+-} 0.45 mm as well as success rates of 99.4%, 97.2%, and 88.9% were achieved for the CS catheter, ablation catheter, and lasso catheter, respectively. With the tracking method, accuracies were increased to 0.45 {+-} 0.28, 0.64 {+-} 0.37, and 0.53 {+-} 0.38 mm and success rates increased to 100%, 99

  14. A real-time TV logo tracking method using template matching

    Science.gov (United States)

    Li, Zhi; Sang, Xinzhu; Yan, Binbin; Leng, Junmin

    2012-11-01

    A fast and accurate TV Logo detection method is presented based on real-time image filtering, noise eliminating and recognition of image features including edge and gray level information. It is important to accurately extract the optical template using the time averaging method from the sample video stream, and then different templates are used to match different logos in separated video streams with different resolution based on the topology features of logos. 12 video streams with different logos are used to verify the proposed method, and the experimental result demonstrates that the achieved accuracy can be up to 99%.

  15. ADAPTIVE BACKGROUND DENGAN METODE GAUSSIAN MIXTURE MODELS UNTUK REAL-TIME TRACKING

    Directory of Open Access Journals (Sweden)

    Silvia Rostianingsih

    2008-01-01

    Full Text Available Nowadays, motion tracking application is widely used for many purposes, such as detecting traffic jam and counting how many people enter a supermarket or a mall. A method to separate background and the tracked object is required for motion tracking. It will not be hard to develop the application if the tracking is performed on a static background, but it will be difficult if the tracked object is at a place with a non-static background, because the changing part of the background can be recognized as a tracking area. In order to handle the problem an application can be made to separate background where that separation can adapt to change that occur. This application is made to produce adaptive background using Gaussian Mixture Models (GMM as its method. GMM method clustered the input pixel data with pixel color value as it’s basic. After the cluster formed, dominant distributions are choosen as background distributions. This application is made by using Microsoft Visual C 6.0. The result of this research shows that GMM algorithm could made adaptive background satisfactory. This proofed by the result of the tests that succeed at all condition given. This application can be developed so the tracking process integrated in adaptive background maker process. Abstract in Bahasa Indonesia : Saat ini, aplikasi motion tracking digunakan secara luas untuk banyak tujuan, seperti mendeteksi kemacetan dan menghitung berapa banyak orang yang masuk ke sebuah supermarket atau sebuah mall. Sebuah metode untuk memisahkan antara background dan obyek yang di-track dibutuhkan untuk melakukan motion tracking. Membuat aplikasi tracking pada background yang statis bukanlah hal yang sulit, namun apabila tracking dilakukan pada background yang tidak statis akan lebih sulit, dikarenakan perubahan background dapat dikenali sebagai area tracking. Untuk mengatasi masalah tersebut, dapat dibuat suatu aplikasi untuk memisahkan background dimana aplikasi tersebut dapat

  16. High Precision and Real Time Tracking of Low Earth Orbiters With GPS: Case Studies With TOPEX/POSEIDON and EUVE

    Science.gov (United States)

    Yunck, Thomas P.; Bertiger, Winy I.; Gold, Kenn; Guinn, Joseph; Reichert, Angie; Watkins, Michael

    1995-01-01

    TOPEX/POSEIDON carries a dual-frequency 6 channel GPS receiver while EUVE has a 12 channel single frequency receiver. Flying at an altitude of 1334 km, TOPEX/POSEIDON performs precise ocean altimetry, which demands the highest possible accuracy in determining the radial orbit component in post-processing. Radial RMS accuracies of about 2 cm were realized using reduced dynamic tracking techniques. In this approach, orbit errors due to force are substantially reduced by exploiting the geometric strength of GPS to solve for a set of stochastic forces. On EUVE, the emphasis was on evaluating real time positioning techniques with a single frequency receiver. The capability for real time 3D accuracies of 15 m in the presence of Selective Availability was shown. This was validated by comparing to a post-processed differential GPS truth orbit believed accurate to about 1 m.!.

  17. Real-time dynamic MLC tracking for inversely optimized arc radiotherapy

    DEFF Research Database (Denmark)

    Falk, Marianne; af Rosenschöld, Per Munck; Keall, Paul; Cattell, Herbert; Cho, Byung Chul; Poulsen, Per Rugaard; Povzner, Sergey; Sawant, Amit; Zimmerman, Jens; Korreman, Stine

    2010-01-01

    Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory....

  18. Real time track finding in a drift chamber with a VLSI neural network

    International Nuclear Information System (INIS)

    In a test setup, a hardware neural network determined track parameters of charged particles traversing a drift chamber. Voltages proportional to the drift times in 6 cells of the 3-layer chamber were inputs to the Intel ETANN neural network chip which had been trained to give the slope and intercept of tracks. We compare network track parameters to those obtained from off-line track fits. To our knowledge this is the first on-line application of a VLSI neural network to a high energy physics detector. This test explored the potential of the chip and the practical problems of using it in a real world setting. We compare the chip performance to a neural network simulation on a conventional computer. We discuss possible applications of the chip in high energy physics detector triggers. (orig.)

  19. Real-time dynamic MLC tracking for inversely optimized arc radiotherapy

    DEFF Research Database (Denmark)

    Falk, Marianne; af Rosenschöld, Per Munck; Keall, Paul; Cattell, Herbert; Cho, Byung Chul; Poulsen, Per; Povzner, Sergey; Sawant, Amit; Zimmerman, Jens; Korreman, Stine Sofia

    2010-01-01

    Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory.......Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory....

  20. Seamless Data Services for Real Time Communication in a Heterogeneous Networks using Network Tracking and Management

    CERN Document Server

    T, Adiline Macriga

    2010-01-01

    Heterogeneous Networks is the integration of all existing networks under a single environment with an understanding between the functional operations and also includes the ability to make use of multiple broadband transport technologies and to support generalized mobility. It is a challenging feature for Heterogeneous networks to integrate several IP-based access technologies in a seamless way. The focus of this paper is on the requirements of a mobility management scheme for multimedia real-time communication services - Mobile Video Conferencing. Nowadays, the range of available wireless access network technologies includes cellular or wide-area wireless systems, such as cellular networks (GSM/GPRS/UMTS) or Wi-Max, local area Network or personal area wireless systems, comprising for example, WLAN (802.11 a/b/g) and Bluetooth. As the mobile video conferencing is considered, the more advanced mobile terminals are capable of having more than one interface active at the same time. In addition, the heterogeneity ...

  1. Real-time detection and tracking of multiple objects with partial decoding in H.264/AVC bitstream domain

    CERN Document Server

    You, Wonsang; Kim, Munchurl; 10.1117/12.805596

    2012-01-01

    In this paper, we show that we can apply probabilistic spatiotemporal macroblock filtering (PSMF) and partial decoding processes to effectively detect and track multiple objects in real time in H.264|AVC bitstreams with stationary background. Our contribution is that our method cannot only show fast processing time but also handle multiple moving objects that are articulated, changing in size or internally have monotonous color, even though they contain a chaotic set of non-homogeneous motion vectors inside. In addition, our partial decoding process for H.264|AVC bitstreams enables to improve the accuracy of object trajectories and overcome long occlusion by using extracted color information.

  2. Cherenkov imaging during volumetric modulated arc therapy for real-time radiation beam tracking and treatment response monitoring

    Science.gov (United States)

    Andreozzi, Jacqueline M.; Zhang, Rongxiao; Glaser, Adam K.; Gladstone, David J.; Jarvis, Lesley A.; Pogue, Brian W.

    2016-03-01

    External beam radiotherapy utilizes high energy radiation to target cancer with dynamic, patient-specific treatment plans. The otherwise invisible radiation beam can be observed via the optical Cherenkov photons emitted from interaction between the high energy beam and tissue. Using a specialized camera-system, the Cherenkov emission can thus be used to track the radiation beam on the surface of the patient in real-time, even for complex cases such as volumetric modulated arc therapy (VMAT). Two patients undergoing VMAT of the head and neck were imaged and analyzed, and the viability of the system to provide clinical feedback was established.

  3. A real-time tracking system for monitoring shipments of hazardous materials

    Science.gov (United States)

    Womble, Phillip; Paschal, Jon; Hopper, Lindsay; Pinson, Dudley; Schultz, Frederick; Whitfield Humphrey, Melinda

    2007-04-01

    Due to the ever increasing use of radioactive materials in day to day living from the treatment of cancer patients and irradiation of food for preservation to industrial radiography to check for defects in the welding of pipelines and buildings there is a growing concern over the tracking and monitoring of these sources in transit prior to use as well as the waste produced by such use. The prevention of lost sealed sources is important in reducing the environmental and health risk posed by direct exposure, co-mingling in the metal recycling stream, use in contaminated consumer products, and use in terrorist activities. Northwest Nuclear, LLC (NWN) and the Applied Physics Institute (API) at Western Kentucky University have developed a tracking technology using active radio frequency identification (RFID) tags. This system provides location information by measuring the time of arrival of packets from a set of RFID tags to a set of location receivers. The system can track and graphically display the location on maps, drawings or photographs of tagged items on any 802.11- compliant device (PDAs, laptops, computers, WiFi telephones) situated both outside and inside structures. This location information would be vital for tracking the location of high level radiological sources while in transit. RFID technology would reduce the number of lost sources by tracking them from origination to destination. Special tags which indicate tampering or sudden movement have also been developed.

  4. Real-time extraction of bubble chamber tracks using a single vidicon

    International Nuclear Information System (INIS)

    Bubble Chamber pictures show many undesired tracks and background in addition to the tracks of the desired significant event. Settles et al. have described a technique for optical tagging of an event by adding a darkfield photograph taken before significant bubble growth to a later brightfield photograph. The authors describe a system to cancel out all picture detail except for the wanted tracks by using a single vidicon tube as the storage device. In the first exposure, polarized light is imaged on the vidicon after passing through a Ronchi grating placed at a focal plane. Thus half of the target is exposed in a series of vertical stripes. The second exposure uses light polarized orthogonally to the first exposure and is deflected after passing through the Ronchi grating so as to expose the previously occluded stripes on the target. The target is then scanned orthogonally to the stripes; by subtracting the picture contained in one set of stripes from that contained in the other set, only the differences between the two images remains. A simulation was conducted using continuously presented background of one polarization and background plus tracks of the other polarization. The test showed that the added tracks were easily resolved, even though they were not readily discernible by visual inspection prior to subtraction. (Auth.)

  5. Optimal transcostal high-intensity focused ultrasound with combined real-time 3D movement tracking and correction

    Science.gov (United States)

    Marquet, F.; Aubry, J. F.; Pernot, M.; Fink, M.; Tanter, M.

    2011-11-01

    Recent studies have demonstrated the feasibility of transcostal high intensity focused ultrasound (HIFU) treatment in liver. However, two factors limit thermal necrosis of the liver through the ribs: the energy deposition at focus is decreased by the respiratory movement of the liver and the energy deposition on the skin is increased by the presence of highly absorbing bone structures. Ex vivo ablations were conducted to validate the feasibility of a transcostal real-time 3D movement tracking and correction mode. Experiments were conducted through a chest phantom made of three human ribs immersed in water and were placed in front of a 300 element array working at 1 MHz. A binarized apodization law introduced recently in order to spare the rib cage during treatment has been extended here with real-time electronic steering of the beam. Thermal simulations have been conducted to determine the steering limits. In vivo 3D-movement detection was performed on pigs using an ultrasonic sequence. The maximum error on the transcostal motion detection was measured to be 0.09 ± 0.097 mm on the anterior-posterior axis. Finally, a complete sequence was developed combining real-time 3D transcostal movement correction and spiral trajectory of the HIFU beam, allowing the system to treat larger areas with optimized efficiency. Lesions as large as 1 cm in diameter have been produced at focus in excised liver, whereas no necroses could be obtained with the same emitted power without correcting the movement of the tissue sample.

  6. Towards real-time guidewire detection and tracking in the field of neuroradiology

    Science.gov (United States)

    Spiegel, Martin; Pfister, Marcus; Hahn, Dieter; Daum, Volker; Hornegger, Joachim; Struffert, Tobias; Dörfler, Arnd

    2009-02-01

    Two-dimensional roadmapping is considered state-of-the-art in guidewire navigation during endovascular interventions. This paper presents a methodology for extracting the guidewire from a sequence of 2-D roadmap images in almost real time. The detected guidewire can be used to improve its visibility on noisy fluoroscopic images or to do a back projection of the guidewire into a registered 3-D vessel tree. A lineness filter based on the Hessian matrix is used to detect only those line structures in the image that lie within the vessel tree. Loose wire fragments are properly linked by a novel connection method fulfilling clinical processing requirements. We show that Dijkstra's algorithm can be applied to efficiently compute the optimal connection path. The entire guidewire is finally approximated by a B-spline curve in a least-squares manner. The proposed method is both integrated into a commercial clinical prototype and evaluated on five different patient data sets containing up to 249 frames per image series.

  7. Real time object recognition and tracking using 2D/3D images

    OpenAIRE

    Ghobadi, Seyed Eghbal

    2010-01-01

    Object recognition and tracking are the main tasks in computer vision applications such as safety, surveillance, human-robot-interaction, driving assistance system, traffic monitoring, remote surgery, medical reasoning and many more. In all these applications the aim is to bring the visual perception capabilities of the human being into the machines and computers. In this context many significant researches have recently been conducted to open new horizons in computer vision by...

  8. Real-Time MRI-Guided Catheter Tracking Using Hyperpolarized Silicon Particles

    Science.gov (United States)

    Whiting, Nicholas; Hu, Jingzhe; Shah, Jay V.; Cassidy, Maja C.; Cressman, Erik; Zacharias Millward, Niki; Menter, David G.; Marcus, Charles M.; Bhattacharya, Pratip K.

    2015-08-01

    Visualizing the movement of angiocatheters during endovascular interventions is typically accomplished using x-ray fluoroscopy. There are many potential advantages to developing magnetic resonance imaging-based approaches that will allow three-dimensional imaging of the tissue/vasculature interface while monitoring other physiologically-relevant criteria, without exposing the patient or clinician team to ionizing radiation. Here we introduce a proof-of-concept development of a magnetic resonance imaging-guided catheter tracking method that utilizes hyperpolarized silicon particles. The increased signal of the silicon particles is generated via low-temperature, solid-state dynamic nuclear polarization, and the particles retain their enhanced signal for ≥40 minutes—allowing imaging experiments over extended time durations. The particles are affixed to the tip of standard medical-grade catheters and are used to track passage under set distal and temporal points in phantoms and live mouse models. With continued development, this method has the potential to supplement x-ray fluoroscopy and other MRI-guided catheter tracking methods as a zero-background, positive contrast agent that does not require ionizing radiation.

  9. Effect of Body Mass Index on Intrafraction Prostate Displacement Monitored by Real-Time Electromagnetic Tracking

    International Nuclear Information System (INIS)

    Purpose: To evaluate, using real-time monitoring of implanted radiofrequency transponders, the intrafraction prostate displacement of patients as a function of body mass index (BMI). Methods and Materials: The motions of Beacon radiofrequency transponders (Calypso Medical Technologies, Seattle, WA) implanted in the prostate glands of 66 men were monitored throughout the course of intensity modulated radiation therapy. Data were acquired at 10 Hz from setup to the end of treatment, but only the 1.7 million data points with a “beam on” tag were used in the analysis. There were 21 obese patients, with BMI ≥30 and 45 nonobese patients in the study. Results: Mean displacements were least in the left-right lateral direction (0.56 ± 0.24 mm) and approximately twice that magnitude in the superior-inferior and anterior-posterior directions. The net vector displacement was larger still, 1.95 ± 0.47 mm. Stratified by BMI cohort, the mean displacements per patient in the 3 Cartesian axes as well as the net vector for patients with BMI ≥30 were slightly less (<0.2 mm) but not significantly different than the corresponding values for patients with lower BMIs. As a surrogate for the magnitude of oscillatory noise, the standard deviation for displacements in all measured planes showed no significant differences in the prostate positional variability between the lower and higher BMI groups. Histograms of prostate displacements showed a lower frequency of large displacements in obese patients, and there were no significant differences in short-term and long-term velocity distributions. Conclusions: After patients were positioned accurately using implanted radiofrequency transponders, the intrafractional displacements in the lateral, superior-inferior, and anterior-posterior directions as well as the net vector displacements were smaller, but not significantly so, for obese men than for those with lower BMI.

  10. Study on large scale knowledge base with real time operation for autonomous nuclear power plant. 1. Basic concept and expecting performance

    International Nuclear Information System (INIS)

    Since it is desired to enhance availability and safety of nuclear power plants operation and maintenance by removing human factor, there are many researches and developments for intelligent operation or diagnosis using artificial intelligence (AI) technique. We have been developing an autonomous operation and maintenance system for nuclear power plants by substituting AI's and intelligent robots. It is indispensable to use various and large scale knowledge relative to plant design, operation, and maintenance, that is, whole life cycle data of the plant for the autonomous nuclear power plant. These knowledge must be given to AI system or intelligent robots adequately and opportunely. Moreover, it is necessary to insure real time operation using the large scale knowledge base for plant control and diagnosis performance. We have been studying on the large scale and real time knowledge base system for autonomous plant. In the report, we would like to present the basic concept and expecting performance of the knowledge base for autonomous plant, especially, autonomous control and diagnosis system. (author)

  11. The RASNIK Real-Time Relative Alignment Monitor for the CDF Inner Tracking Detectors

    OpenAIRE

    Goldstein, David; Saltzberg, David

    2002-01-01

    We describe the design and operation of the RASNIK optical relative alignment system designed for and installed on the CDF inner tracking detectors. The system provides low-cost minute-by-minute alignment monitoring with submicron precision. To reduce ambiguities, we modified the original three-element rasnik design to a two-element one. Since the RASNIKs are located within 10--40 cm of the beamline, the systems were built from low-mass and radiation-hard components and are operated in a mode...

  12. Eye-tracking technology for real-time monitoring of transverse chromatic aberration.

    Science.gov (United States)

    Privitera, Claudio M; Sabesan, Ramkumar; Winter, Simon; Tiruveedhula, Pavan; Roorda, Austin

    2016-04-15

    Objective measurements of transverse chromatic aberration (TCA) between two or more wavelengths with an adaptive optics scanning laser ophthalmoscope (AOSLO) are very accurate, but frequent measurements are impractical in many experimental settings. Here, we demonstrate a pupil tracker that can accurately measure relative changes in TCA that are caused by small shifts in the pupil relative to the AOSLO imaging beam. Corrections for TCA caused by these shifts improve the measurement of TCA as a function of eccentricity, revealing a strong linear relationship. We propose that pupil tracking be integrated into AOSLO systems, where robust and unobtrusive control of TCA is required. PMID:27082330

  13. The dosimetric impact of inversely optimized arc radiotherapy plan modulation for real-time dynamic MLC tracking delivery

    International Nuclear Information System (INIS)

    Purpose: Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced by using a leaf position constraint (LPC) that reduces the difference in the position of adjacent MLC leaves in the plan. The purpose of this study was to investigate the impact of the LPC on the quality of inversely optimized arc radiotherapy plans and the effect of the MLC motion pattern on the dosimetric accuracy of MLC tracking delivery. Specifically, the possibility of predicting the accuracy of MLC tracking delivery based on the plan modulation was investigated. Methods: Inversely optimized arc radiotherapy plans were created on CT-data of three lung cancer patients. For each case, five plans with a single 358 deg. arc were generated with LPC priorities of 0 (no LPC), 0.25, 0.5, 0.75, and 1 (highest possible LPC), respectively. All the plans had a prescribed dose of 2 Gy x 30, used 6 MV, a maximum dose rate of 600 MU/min and a collimator angle of 45 deg. or 315 deg. To quantify the plan modulation, an average adjacent leaf distance (ALD) was calculated by averaging the mean adjacent leaf distance for each control point. The linear relationship between the plan quality [i.e., the calculated dose distributions and the number of monitor units (MU)] and the LPC was investigated, and the linear regression coefficient as well as a two tailed confidence level of 95% was used in the evaluation. The effect of the plan modulation on the performance of MLC tracking was tested by delivering the plans to a cylindrical diode array phantom moving with sinusoidal motion in the superior-inferior direction with a peak-to-peak displacement of 2 cm and a cycle time of 6 s. The delivery was adjusted to the target motion using MLC tracking, guided in real-time by an infrared optical system

  14. Real-time two-level foreground detection and person-silhouette extraction enhanced by body-parts tracking

    Science.gov (United States)

    Deeb, Rada; Desserée, Elodie; Bouakaz, Saida

    2012-01-01

    In this paper we discuss foreground detection and human body silhouette extraction and tracking in monocular video systems designed for human motion analysis applications. Vision algorithms face many challenges when it comes to analyze human activities in non-controlled environments. For instance, issues like illumination changes, shadows, camouflage and occlusions make the detection and the tracking of a moving person a hard task to accomplish. Hence, advanced solutions are required to analyze the content of video sequences. We propose a real-time, two-level foreground detection, enhanced by body parts tracking, designed to efficiently extract person silhouette and body parts for monocular video-based human motion analysis systems. We aim to find solutions for different non-controlled environment challenges, which make the detection and the tracking of a moving person a hard task to accomplish. On the first level, we propose an enhanced Mixture of Gaussians, built on both chrominanceluminance and chrominance-only spaces, which handles global illumination changes. On the second level, we improve segmentation results, in interesting areas, by using statistical foreground models updated by a high-level tracking of body parts. Each body part is represented with a set of template characterized by a feature vector built in an initialization phase. Then, high level tracking is done by finding blob-template correspondences via distance minimization in feature space. Correspondences are then used to update foreground models, and a graph cut algorithm, which minimizes a Markov random field energy function containing these models, is used to refine segmentation. We were able to extract a refined silhouette in the presence of light changes, noise and camouflage. Moreover, the tracking approach allowed us to infer information about the presence and the location of body parts even in the case of partial occlusion.

  15. Fast Tracker : A Hardware Real Time Track Finder for the ATLAS Trigger System

    CERN Document Server

    Kimura, N; The ATLAS collaboration

    2013-01-01

    The Large Hadron Collider (LHC) after the 2013-­‐2014 shutdown period is expected to improve the yet impressive performance obtained up to this year: collisions’ energy will increase to 14 TeV and instantaneous luminosity will reach and then overcome 10^34 cm‐2s‐1, with a bunch crossing period of 25 ns. The LHC experiments will need to adapt to the more crowded events, maintaining the physics output and the quality of the final results. The pileup higher than the LHC run 1, with peaks expected to reach 50 or more, will make more difficult to have efficient online selection of rare events based mostly on calorimeters and muon detectors as it is done now. A more extensive use of the information collected by the tracking detector will allow building more robust selections, limiting the degradation effects due to the high pileup. We report on the development of the Fast Tracker (FTK) processor for the ATLAS experiment, devoted to reconstruct tracks with transverse momentum above 1 GeV in the whole detect...

  16. Real-time circumferential mapping catheter tracking for motion compensation in atrial fibrillation ablation procedures

    Science.gov (United States)

    Brost, Alexander; Bourier, Felix; Wimmer, Andreas; Koch, Martin; Kiraly, Atilla; Liao, Rui; Kurzidim, Klaus; Hornegger, Joachim; Strobel, Norbert

    2012-02-01

    Atrial fibrillation (AFib) has been identified as a major cause of stroke. Radiofrequency catheter ablation has become an increasingly important treatment option, especially when drug therapy fails. Navigation under X-ray can be enhanced by using augmented fluoroscopy. It renders overlay images from pre-operative 3-D data sets which are then fused with X-ray images to provide more details about the underlying soft-tissue anatomy. Unfortunately, these fluoroscopic overlay images are compromised by respiratory and cardiac motion. Various methods to deal with motion have been proposed. To meet clinical demands, they have to be fast. Methods providing a processing frame rate of 3 frames-per-second (fps) are considered suitable for interventional electrophysiology catheter procedures if an acquisition frame rate of 2 fps is used. Unfortunately, when working at a processing rate of 3 fps, the delay until the actual motion compensated image can be displayed is about 300 ms. More recent algorithms can achieve frame rates of up to 20 fps, which reduces the lag to 50 ms. By using a novel approach involving a 3-D catheter model, catheter segmentation and a distance transform, we can speed up motion compensation to 25 fps which results in a display delay of only 40 ms on a standard workstation for medical applications. Our method uses a constrained 2-D/3-D registration to perform catheter tracking, and it obtained a 2-D tracking error of 0.61 mm.

  17. FTK: A HARDWARE REAL-TIME TRACK FINDER FOR THE ATLAS TRIGGER SYSTEM

    CERN Document Server

    Stabile, Alberto; The ATLAS collaboration

    2016-01-01

    An overview of the ATLAS Fast Tracker processor will be presented, reporting the design of the system, its expected performance, and the current integration status. The Fast TracKer is an upgrade of the trigger system at the ATLAS experiment. This system is designed to lower the event rate from the proton-proton collisions occurring at 40 MHz to about 1 kHz for the expected LHC luminosity (2x1034cm-2s-1). To achieve this selection rate an intensive use of particle tracking must be exploited. For such a demanding application a dedicated hardware tracker was designed, the Fast TracKer processor. To achieve the required performance Fast TracKer uses a combination of custom designed VLSI chips and latest generation FPGAs, all embedded in custom designed boards, exploiting a fully parallel architecture. Fast TracKer provides track reconstruction based on the full silicon (inner) detector with resolution comparable to the offline reconstruction with a latency of approximately 100μs.

  18. FTK: A Hardware Real-Time Track Finder for the ATLAS Trigger System

    CERN Document Server

    ATLAS Collaboration; The ATLAS collaboration

    2016-01-01

    An overview of the ATLAS Fast Tracker processor will be presented, reporting the design of the system, its expected performance, and the current integration status. The Fast TracKer is an upgrade of the trigger system at the ATLAS experiment. This system is designed to lower the event rate from the proton-proton collisions occurring at 40 MHz to about 1 kHz for the expected LHC luminosity (2x1034cm-2s-1). To achieve this selection rate an intensive use of particle tracking must be exploited. For such a demanding application a dedicated hardware tracker was designed, the Fast TracKer processor. To achieve the required performance Fast TracKer uses a combination of custom designed VLSI chips and latest generation FPGAs, all embedded in custom designed boards, exploiting a fully parallel architecture. Fast TracKer provides track reconstruction based on the full silicon (inner) detector with resolution comparable to the offline reconstruction with a latency of approximately 100μs.

  19. Real-time multisensor data fusion for target detection, classification, tracking, counting, and range estimates

    Science.gov (United States)

    Tsui, Eddy K.; Thomas, Russell L.

    2004-09-01

    As part of the Commanding General of Army Material Command's Research, Development & Engineering Command (RDECOM), the U.S. Army Research Development and Engineering Center (ARDEC), Picatinny funded a joint development effort with McQ Associates, Inc. to develop an Advanced Minefield Sensor (AMS) as a technology evaluation prototype for the Anti-Personnel Landmine Alternatives (APLA) Track III program. This effort laid the fundamental groundwork of smart sensors for detection and classification of targets, identification of combatant or noncombatant, target location and tracking at and between sensors, fusion of information across targets and sensors, and automatic situation awareness to the 1st responder. The efforts have culminated in developing a performance oriented architecture meeting the requirements of size, weight, and power (SWAP). The integrated digital signal processor (DSP) paradigm is capable of computing signals from sensor modalities to extract needed information within either a 360° or fixed field of view with acceptable false alarm rate. This paper discusses the challenges in the developments of such a sensor, focusing on achieving reasonable operating ranges, achieving low power, small size and low cost, and applications for extensions of this technology.

  20. Real time visualization of single ionization tracks generated by heavy ions in gaseous media

    International Nuclear Information System (INIS)

    The ionization track structures generated by high energy heavy ions in matter are of great importance in radiochemistry, radiology, and heavy ion radiotherapy such as conducted at Heavy Ion Medical Accelerator in Chiba (HIMAC). In order to investigate these structures microscopically, we have proposed a new microdosimetric instrument based upon proportional scintillation imaging chamber that can visualize the ionization track structures in detail. Having verified its capability with a prototype filled with Ar(92%)+CH4(5%)+TEA(3%) gas mixture, we have constructed a full-scale model. It is associated with a conversion volume large enough to establish the secondary electron equilibrium. The full-scale model is also associated with an advanced optical readout system that can perform two-dimensional single photon counting by selecting single heavy ion events only. The optical image obtained for C ions of 290 MeV/u from HIMAC indicates that there is a central region with an extension of 8 mm as well as a surrounded region with an extension of 35 mm. The extensions of the central and surrounded are presumably determined by the thermalization length of the secondary electrons in the gas medium and by the δ-ray range produced by the heavy ions, respectively. (author)

  1. The RASNIK Real-Time Relative Alignment Monitor for the CDF Inner Tracking Detectors

    CERN Document Server

    Goldstein, D B; Goldstein, David; Saltzberg, David

    2003-01-01

    We describe the design and operation of the RASNIK optical relative alignment system designed for and installed on the CDF inner tracking detectors. The system provides low-cost minute-by-minute alignment monitoring with submicron precision. To reduce ambiguities, we modified the original three-element rasnik design to a two-element one. Since the RASNIKs are located within 10--40 cm of the beamline, the systems were built from low-mass and radiation-hard components and are operated in a mode which reduces damage from radiation. We describe the data-acquisition system, which has been running without interruption since before the CDF detector was rolled into its collision hall in March 2001. We evaluate what has been learned about sources of detector motion from almost two years of RASNIK data and discuss possible improvements to the system.

  2. The RASNIK real-time relative alignment monitor for the CDF inner tracking detectors

    International Nuclear Information System (INIS)

    We describe the design and operation of the RASNIK optical relative alignment system designed for and installed on the CDF inner tracking detectors. The system provides low-cost minute-by-minute alignment monitoring with submicron precision. To reduce ambiguities, we modified the original three-element RASNIK design to a two-element one. Since the RASNIKs are located within 10-40 cm of the beam line, the systems were built from low-mass and radiation-hard components and are operated in a mode which reduces damage from radiation. We describe the data-acquisition system, which has been running without interruption since before the CDF detector was rolled into its collision hall in March 2001. We evaluate what has been learned about sources of detector motion from almost 2 years of RASNIK data and discuss possible improvements to the system

  3. Optimization of fluoroscopy parameters using pattern matching prediction in the real-time tumor-tracking radiotherapy system

    International Nuclear Information System (INIS)

    In the real-time tumor-tracking radiotherapy system, fluoroscopy is used to determine the real-time position of internal fiducial markers. The pattern recognition score (PRS) ranging from 0 to 100 is computed by a template pattern matching technique in order to determine the marker position on the fluoroscopic image. The PRS depends on the quality of the fluoroscopic image. However, the fluoroscopy parameters such as tube voltage, current and exposure duration are selected manually and empirically in the clinical situation. This may result in an unnecessary imaging dose from the fluoroscopy or loss of the marker because of too much or insufficient x-ray exposure. In this study, a novel optimization method is proposed in order to minimize the fluoroscopic dose while keeping the image quality usable for marker tracking. The PRS can be predicted in a region where the marker appears to move in the fluoroscopic image by the proposed method. The predicted PRS can be utilized to judge whether the marker can be tracked with accuracy. In this paper, experiments were performed to show the feasibility of the PRS prediction method under various conditions. The predicted PRS showed good agreement with the measured PRS. The root mean square error between the predicted PRS and the measured PRS was within 1.44. An experiment using a motion controller and an anthropomorphic chest phantom was also performed in order to imitate a clinical fluoroscopy situation. The result shows that the proposed prediction method is expected to be applicable in a real clinical situation.

  4. An improved optical flow tracking technique for real-time MR-guided beam therapies in moving organs

    Science.gov (United States)

    Zachiu, C.; Papadakis, N.; Ries, M.; Moonen, C.; de Senneville, B. Denis

    2015-12-01

    Magnetic resonance (MR) guided high intensity focused ultrasound and external beam radiotherapy interventions, which we shall refer to as beam therapies/interventions, are promising techniques for the non-invasive ablation of tumours in abdominal organs. However, therapeutic energy delivery in these areas becomes challenging due to the continuous displacement of the organs with respiration. Previous studies have addressed this problem by coupling high-framerate MR-imaging with a tracking technique based on the algorithm proposed by Horn and Schunck (H and S), which was chosen due to its fast convergence rate and highly parallelisable numerical scheme. Such characteristics were shown to be indispensable for the real-time guidance of beam therapies. In its original form, however, the algorithm is sensitive to local grey-level intensity variations not attributed to motion such as those that occur, for example, in the proximity of pulsating arteries. In this study, an improved motion estimation strategy which reduces the impact of such effects is proposed. Displacements are estimated through the minimisation of a variation of the H and S functional for which the quadratic data fidelity term was replaced with a term based on the linear L1norm, resulting in what we have called an L2-L1 functional. The proposed method was tested in the livers and kidneys of two healthy volunteers under free-breathing conditions, on a data set comprising 3000 images equally divided between the volunteers. The results show that, compared to the existing approaches, our method demonstrates a greater robustness to local grey-level intensity variations introduced by arterial pulsations. Additionally, the computational time required by our implementation make it compatible with the work-flow of real-time MR-guided beam interventions. To the best of our knowledge this study was the first to analyse the behaviour of an L1-based optical flow functional in an applicative context: real-time MR

  5. Real-time imaging and tracking of ultrastable organic dye nanoparticles in living cells.

    Science.gov (United States)

    Xu, Ruirui; Huang, Liming; Wei, Weijia; Chen, Xianfeng; Zhang, Xiaohong; Zhang, Xiujuan

    2016-07-01

    Semiconductor quantum dots and upconversion nanoparticles have been broadly used for live cell imaging due to their color tunability and photostability etc. However, these inorganic materials often contain heavy metals and potentially have metabolism problems. To overcome these issues, herein, we report a type of organic dye nanoparticles (NPs) with coating of a thin silica layer and folic acid targeting molecules on the surface for live cell imaging. These organic NPs possess superior characteristics of high fluorescence intensity, large Stokes shift, good photostability, emission in the NIR range, and targeted delivery, enabling them to be a powerful fluorescent probe for living cell imaging. In our study, we successfully demonstrate their applications in investigating cell division, exploring the cellular uptake kinetics and pathway of NPs, observing the distribution of NPs, and live-time tracking the trajectory of specific NPs. Considering the excellent properties and unique clathrin- and caveollae-independent intracellular uptake pathway, we expect that this type of organic dye NPs will play an important role in live cell imaging. PMID:27064960

  6. Clinical Implementation of Dynamic Tumour Tracking Radiotherapy with Real-time Monitoring Using a Gimbal Mounted Linac

    International Nuclear Information System (INIS)

    Respiratory motion is one of the factors causing uncertainties during beam delivery, particularly for thoracic and addominal tumors. Several techniques, including forced shallow-breathing, breath-hold, respiratory gating, and dynamic tumour tracking (DTT), have been proposed to reduce the uncertainties without a burden on the respiration of patients or prolongation of treatment time. We have developed an innovative four-mensional (4D) image-guided radiotherapy system, the Vero4DRT (MHI-TM2000; Mitsubishi Heay Industries, Ltd., Japan, and Brainlab, Feldkirchen, Germany). The Vero4DRT has two special features that allow DTT with real-time monitoring. One is two sets of kilovoltage (KV) X-ray imagers, that can monitor the three-dimensional position of the tumor in real-time via implanted fiducial markers, and the other is a gimbal mounted linac, enabling DTT. DTT stereotactic body radiotherapy was realizered for a patient with lung tumor in September 11 2011 and for a pateint with liver tumor in 2012. Therreafter,DTT IMRT was realized for a patien with pancreatic cancer in June 2013. The presentation

  7. A Novel Real-Time Coal Miner Localization and Tracking System Based on Self-Organized Sensor Networks

    Directory of Open Access Journals (Sweden)

    Wang Yang

    2010-01-01

    Full Text Available With the development of information technology, we envision that the key of improving coal mine safety is how to get real-time positions of miners. In this paper, we propose a prototype system for real-time coal miner localization and tracking based on self-organized sensor networks. The system is composed of hardware and software platform. We develop a set of localization hardware devices with the Safety Certificate of Approval for Mining Products include miner node, wired fixed access station, and base with optical port. On the software side, we develop a layered software architecture of node application, server management, and information dissemination and broadcasting. We also develop three key localization technologies: an underground localization algorithm using received signal strength indication- (RSSI- verifying algorithm to reduce the influence of the severe environment in a coal mine; a robust fault-tolerant localization mechanism to improve the inherent defect of instability of RSSI localization; an accurate localization algorithm based on Monte Carlo localization (MCL to adapt to the underground tunnel structure. In addition, we conduct an experimental evaluation based on a real prototype implementation using MICA2 motes. The results show that our system is more accurate and more adaptive in general than traditional localization algorithms.

  8. The dosimetric impact of inversely optimized arc radiotherapy plan modulation for real-time dynamic MLC tracking delivery

    Energy Technology Data Exchange (ETDEWEB)

    Falk, Marianne; Larsson, Tobias; Keall, Paul; Chul Cho, Byung; Aznar, Marianne; Korreman, Stine; Poulsen, Per; Munck af Rosenschoeld, Per [Radiation Medicine Research Center, Department of Radiation Oncology - 3994, Rigshospitalet, Blegdamsvej 9, DK - 2100 Copenhagen (Denmark) and Niels Bohr Institute, University of Copenhagen (Denmark); Radiation Medicine Research Center, Department of Radiation Oncology, Rigshospitalet, Copenhagen University Hospital (Denmark); Radiation Physics Laboratory, Sydney Medical School, University of Sydney (Australia); Department of Radiation Oncology, Asan Medical Center, University of Ulsan College of Medicine, Seoul (Korea, Republic of); Radiation Medicine Research Center, Department of Radiation Oncology, Rigshospitalet, Copenhagen University Hospital, Denmark and Niels Bohr Institute, University of Copenhagen (Denmark); Radiation Medicine Research Center, Department of Radiation Oncology, Rigshospitalet, Copenhagen University Hospital (Denmark); Niels Bohr Institute, University of Copenhagen (Denmark) and Department of Science, Systems and Models, Roskilde University (Denmark); Department of Oncology, Aarhus University Hospital (Denmark); Radiation Medicine Research Center, Department of Radiation Oncology, Rigshospitalet, Copenhagen University Hospital (Denmark) and Niels Bohr Institute, University of Copenhagen (Denmark)

    2012-03-15

    Purpose: Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced by using a leaf position constraint (LPC) that reduces the difference in the position of adjacent MLC leaves in the plan. The purpose of this study was to investigate the impact of the LPC on the quality of inversely optimized arc radiotherapy plans and the effect of the MLC motion pattern on the dosimetric accuracy of MLC tracking delivery. Specifically, the possibility of predicting the accuracy of MLC tracking delivery based on the plan modulation was investigated. Methods: Inversely optimized arc radiotherapy plans were created on CT-data of three lung cancer patients. For each case, five plans with a single 358 deg. arc were generated with LPC priorities of 0 (no LPC), 0.25, 0.5, 0.75, and 1 (highest possible LPC), respectively. All the plans had a prescribed dose of 2 Gy x 30, used 6 MV, a maximum dose rate of 600 MU/min and a collimator angle of 45 deg. or 315 deg. To quantify the plan modulation, an average adjacent leaf distance (ALD) was calculated by averaging the mean adjacent leaf distance for each control point. The linear relationship between the plan quality [i.e., the calculated dose distributions and the number of monitor units (MU)] and the LPC was investigated, and the linear regression coefficient as well as a two tailed confidence level of 95% was used in the evaluation. The effect of the plan modulation on the performance of MLC tracking was tested by delivering the plans to a cylindrical diode array phantom moving with sinusoidal motion in the superior-inferior direction with a peak-to-peak displacement of 2 cm and a cycle time of 6 s. The delivery was adjusted to the target motion using MLC tracking, guided in real-time by an infrared optical system

  9. Real-time Needle Steering in Response to Rolling Vein Deformation by a 9-DOF Image-Guided Autonomous Venipuncture Robot

    Science.gov (United States)

    Chen, Alvin I.; Balter, Max L.; Maguire, Timothy J.; Yarmush, Martin L.

    2015-01-01

    Venipuncture is the most common invasive medical procedure performed in the United States and the number one cause of hospital injury. Failure rates are particularly high in pediatric and elderly patients, whose veins tend to deform, move, or roll as the needle is introduced. To improve venipuncture accuracy in challenging patient populations, we have developed a portable device that autonomously servos a needle into a suitable vein under image guidance. The device operates in real time, combining near-infrared and ultrasound imaging, computer vision software, and a 9 degrees-of-freedom robot that servos the needle. In this paper, we present the kinematic and mechanical design of the latest generation robot. We then investigate in silico and in vitro the mechanics of vessel rolling and deformation in response to needle insertions performed by the robot. Finally, we demonstrate how the robot can make real-time adjustments under ultrasound image guidance to compensate for subtle vessel motions during venipuncture. PMID:26779381

  10. WE-G-BRD-03: Development of a Real-Time Optical Tracking Goggle System (OTGS) for Intracranial Stereotactic Radiotherapy

    International Nuclear Information System (INIS)

    Purpose: Optical tracking systems (OTS) are an acceptable alternative to frame-based stereotactic radiotherapy (SRT). However, current surface-based OTS lack the ability to target exclusively rigid/bony anatomical features. We propose a novel marker-based optical tracking goggle system (OTGS) that provides real-time guidance based on the nose/facial bony anatomy. This ongoing study involves the development and characterization of the OTGS for clinical implementation in intracranial stereotactic radiotherapy. Methods: The OTGS consists of eye goggles, a custom thermoplastic nosepiece, and 6 infrared markers pre-attached to the goggles. A phantom and four healthy volunteers were used to evaluate the calibration/registration accuracy, intrafraction accuracy, interfraction reproducibility, and end-to-end accuracy of the OTGS. The performance of the OTGS was compared with that of the frameless SonArray system and cone-beam computed tomography (CBCT) for volunteer and phantom cases, respectively. The performance of the OTGS with commercial immobilization devices and under treatment conditions (i.e., couch rotation and translation range) was also evaluated. Results: The difference in the calibration/registration accuracy of 24 translations or rotation combinations between CBCT and in-house OTS software was within 0.5 mm/0.4°. The mean intrafraction and interfraction accuracy among the volunteers was 0.004+/−0.4mm with −0.09+/−0.5° (n=6,170) and −0.26+/−0.8mm with 0.15+/0.8° (n=11), respectively. The difference in end-to-end accuracy between the OTGS and CBCT was within 1.3 mm/1.1°. The predetermined marker pattern (1) minimized marker occlusions, (2) allowed for continuous tracking for couch angles +/− 90°, (3) and eliminated individual marker misplacement. The device was feasible with open and half masks for immobilization. Conclusion: Bony anatomical localization eliminated potential errors due to facial hair changes and/or soft tissue deformation. The

  11. Potential of image-guidance, gating and real-time tracking to improve accuracy in pulmonary stereotactic body radiotherapy

    International Nuclear Information System (INIS)

    Purpose: To evaluate the potential of image-guidance, gating and real-time tumor tracking to improve accuracy in pulmonary stereotactic body radiotherapy (SBRT). Materials and methods: Safety margins for compensation of inter- and intra-fractional uncertainties of the target position were calculated based on SBRT treatments of 43 patients with pre- and post-treatment cone-beam CT imaging. Safety margins for compensation of breathing motion were evaluated for 17 pulmonary tumors using respiratory correlated CT, model-based segmentation of 4D-CT images and voxel-based dose accumulation; the target in the mid-ventilation position was the reference. Results: Because of large inter-fractional base-line shifts of the tumor, stereotactic patient positioning and image-guidance based on the bony anatomy required safety margins of 12 mm and 9 mm, respectively. Four-dimensional image-guidance targeting the tumor itself and intra-fractional tumor tracking reduced margins to <5 mm and <3 mm, respectively. Additional safety margins are required to compensate for breathing motion. A quadratic relationship between tumor motion and margins for motion compensation was observed: safety margins of 2.4 mm and 6 mm were calculated for compensation of 10 mm and 20 mm motion amplitudes in cranio-caudal direction, respectively. Conclusion: Four-dimensional image-guidance with pre-treatment verification of the target position and online correction of errors reduced safety margins most effectively in pulmonary SBRT.

  12. Accuracy of Real-time Couch Tracking During 3-dimensional Conformal Radiation Therapy, Intensity Modulated Radiation Therapy, and Volumetric Modulated Arc Therapy for Prostate Cancer

    International Nuclear Information System (INIS)

    Purpose: To evaluate the accuracy of real-time couch tracking for prostate cancer. Methods and Materials: Intrafractional motion trajectories of 15 prostate cancer patients were the basis for this phantom study; prostate motion had been monitored with the Calypso System. An industrial robot moved a phantom along these trajectories, motion was detected via an infrared camera system, and the robotic HexaPOD couch was used for real-time counter-steering. Residual phantom motion during real-time tracking was measured with the infrared camera system. Film dosimetry was performed during delivery of 3-dimensional conformal radiation therapy (3D-CRT), step-and-shoot intensity modulated radiation therapy (IMRT), and volumetric modulated arc therapy (VMAT). Results: Motion of the prostate was largest in the anterior–posterior direction, with systematic (∑) and random (σ) errors of 2.3 mm and 2.9 mm, respectively; the prostate was outside a threshold of 5 mm (3D vector) for 25.0%±19.8% of treatment time. Real-time tracking reduced prostate motion to ∑=0.01 mm and σ = 0.55 mm in the anterior–posterior direction; the prostate remained within a 1-mm and 5-mm threshold for 93.9%±4.6% and 99.7%±0.4% of the time, respectively. Without real-time tracking, pass rates based on a γ index of 2%/2 mm in film dosimetry ranged between 66% and 72% for 3D-CRT, IMRT, and VMAT, on average. Real-time tracking increased pass rates to minimum 98% on average for 3D-CRT, IMRT, and VMAT. Conclusions: Real-time couch tracking resulted in submillimeter accuracy for prostate cancer, which transferred into high dosimetric accuracy independently of whether 3D-CRT, IMRT, or VMAT was used.

  13. Magnetic Particle / Magnetic Resonance Imaging: In-Vitro MPI-Guided Real Time Catheter Tracking and 4D Angioplasty Using a Road Map and Blood Pool Tracer Approach

    OpenAIRE

    Johannes Salamon; Martin Hofmann; Caroline Jung; Michael Gerhard Kaul; Franziska Werner; Kolja Them; Rudolph Reimer; Peter Nielsen; Annika Vom Scheidt; Gerhard Adam; Tobias Knopp; Harald Ittrich

    2016-01-01

    Purpose In-vitro evaluation of the feasibility of 4D real time tracking of endovascular devices and stenosis treatment with a magnetic particle imaging (MPI) / magnetic resonance imaging (MRI) road map approach and an MPI-guided approach using a blood pool tracer. Materials and Methods A guide wire and angioplasty-catheter were labeled with a thin layer of magnetic lacquer. For real time MPI a custom made software framework was developed. A stenotic vessel phantom filled with saline or superp...

  14. Real-Time Assessment of Autonomic Nerve Activity During Adaptive Servo-Ventilation Support or Waon Therapy.

    Science.gov (United States)

    Imamura, Teruhiko; Kinugawa, Koichiro; Nitta, Daisuke; Komuro, Issei

    2016-07-27

    Adaptive servo-ventilation support and Waon therapy are recently developed non-pharmacological and noninvasive therapies for patients with heart failure refractory to guideline-directed medical therapy. These therapies decrease both preload and afterload, increase cardiac output, and appear to ameliorate autonomic nerve activity. However, the time course of autonomic nerve activity during these therapies remains unclear. We performed heart rate variability analysis using the MemCalc power spectral density method (MemCalc system; Suwa Trust Co, Tokyo) to assess autonomic nerve activity during adaptive servo-ventilation support and Waon therapy in two different cases and determined the time course of autonomic nerve activity during these therapies. During both therapies, we found a drastic increase in parasympathetic nerve activity and continuous suppression of sympathetic nerve activity. Heart rate variability analysis using the MemCalc method may be promising for the assessment of the efficacy of various treatments, including adaptive servo-ventilation support and Waon therapy, from the viewpoint of autonomic nerve activity. PMID:27385607

  15. Treating patients with real-time tumor tracking using the Vero gimbaled linac system: Implementation and first review

    International Nuclear Information System (INIS)

    Purpose: To report on the first clinical application of a real-time tumor tracking (RTTT) solution based on the Vero SBRT gimbaled linac system for treatment of moving tumors. Methods and materials: A first group of 10 SBRT patients diagnosed with NSCLC or oligometastatic disease in lung or liver was treated with the RTTT technique. The PTV volumes and OAR exposure were benchmarked against the widely used ITV approach. Based on data acquired during execution of RTTT treatments, a first review was performed of the process. Results: The 35% PTV volume reduction with RTTT of the studied single lesions SBRT irradiations of small target volumes is expected to result in a small (<1%) reduction of lung or liver NTCP. A GTV–PTV margin of 5.0 mm was applied for treatment planning of RTTT. From patient data on residual geometric uncertainties, a CTV–PTV margin of 3.2 mm was calculated. Reduction of the GTV–PTV margin below 5.0 mm without better understanding of biological definition of tumor boundaries was discouraged. Total treatment times were reduced to 34.4 min on average. Conclusion: A considerable PTV volume reduction was achieved applying RTTT and time efficiency for respiratory correlated SBRT was reestablished with Vero RTTT

  16. Development of real-time quantitative polymerase chain reaction assays to track treatment response in retinoid resistant acute promyelocytic leukemia

    Directory of Open Access Journals (Sweden)

    Jelena V Jovanovic

    2011-10-01

    Full Text Available Molecular detection of minimal residual disease (MRD has become established to assess remission status and guide therapy in patients with PML-RARA+ acute promyelocytic leukemia (APL. However, there are few data on tracking disease response in patients with rarer retinoid resistant subtypes of APL, characterized by PLZF-RARA and STAT5b-RARA. Despite their relative rarity (<1% of APL we identified 6 cases (PLZF-RARA, n=5; STAT5b-RARA, n=1, established the respective breakpoint junction regions and designed real-time quantitative polymerase chain reaction (RQ-PCR assays to detect leukemic transcripts. The relative level of fusion gene expression in diagnostic samples was comparable to that observed in t(15;17-associated APL, affording assay sensitivities of ~1 in 104-105. Serial samples were available from 2 PLZF-RARA APL patients. One showed persistent PCR positivity, predicting subsequent relapse, and remains in CR2, ~11 years post-autograft. The other, achieved molecular remission (CRm with combination chemotherapy, remaining in CR1 at 6 years. The STAT5b-RARA patient failed to achieve CRm following frontline combination chemotherapy and ultimately proceeded to allogeneic transplant on the basis of a steadily rising fusion transcript level. These data highlight the potential of RQ-PCR detection of MRD to facilitate development of more individualized approaches to the management of rarer molecularly-defined subsets of acute leukemia.

  17. Real Time Position Location & Tracking (PL&T) using Prediction Filter and Integrated Zone Finding in OFDM Channel

    CERN Document Server

    Niraj, Shakhakarmi

    2012-01-01

    The nature of pre-determined and on-demand mobile network fabrics can be exploited for real time Position Location and Tracking (PL&T) of radios and sensors (nodes) for Global Positioning System (GPS) denied or GPS-free systems. This issue is addressed by a novel system of integrated zone finding and triangulation method for determining the PL&T of nodes when mobile network fabrics are employed based on using directional antennas for radio communications. Each mobile node is switched dynamically between being a reference and a target node in PL&T operation to improve the PL&T accuracy of a target node. This paper presents the Baseline PL&T with predictive Kalman filter and Integrated Zone based PL&T algorithm design that integrates zone finding and triangulation method. The performance of the proposed algorithm is analysed using Interleaving-KV sample coding & error correction in Rayleigh and Rician channel using Orthogonal Frequency Division Multiplexing (OFDM) system under the se...

  18. Alchymical Mirror: Real-time Interactive Sound- and Simple Motion-Tracking Set of Jitter/Max/MSP Patches

    CERN Document Server

    Eidelman, Elizaveta

    2011-01-01

    This document supplements an experimental Jitter / Max/MSP collection of implementation patches that set its goal to simulate an alchemical process for a person standing in front of a mirror-like screen while interacting with it. The work involved takes some patience and has three stages to go through. At the final stage the "alchemist" in the mirror wearing sharp-colored gloves (for motion tracking) is to extract the final ultimate shining sparkle (FFT-based visualization) in the nexus of the hands. The more the hands are apart, the large the sparkle should be. Moving hands around should make the sparkle follow. To achieve the desired visual effect and the feedback mechanism, the Jitter lattice-based intensional programming model is used to work on 4-dimensional (A+R+G+B) video matrices and sound signals in order to apply some well-known alchemical techniques to the video at real-time to get a mirror effect and accompanying transmutation and transformation stages of the video based on the stability of the so...

  19. Evaluation of dynamic tumour tracking radiotherapy with real-time monitoring for lung tumours using a gimbal mounted linac

    International Nuclear Information System (INIS)

    Purpose: To evaluate feasibility and acute toxicities after dynamic tumour tracking (DTT) irradiation with real-time monitoring for lung tumours using a gimbal mounted linac. Materials and methods: Spherical gold markers were placed around the tumour using a bronchoscope prior to treatment planning. Prescription dose at the isocentre was 56 Gy in 4 fractions for T2a lung cancer and metastatic tumour, and 48 Gy in 4 fractions for the others. Dose-volume metrics were compared between DTT and conventional static irradiation using in-house developed software. Results: Of twenty-two patients enrolled, DTT radiotherapy was successfully performed for 16 patients, except 4 patients who coughed out the gold markers, one who showed spontaneous tumour regression, and one where the abdominal wall motion did not correlate with the tumour motion. Dose covering 95% volume of GTV was not different between the two techniques, while normal lung volume receiving 20 Gy or more was reduced by 20%. A mean treatment time per fraction was 36 min using DTT. With a median follow-up period of 13.2 months, no severe toxicity grade 3 or worse was observed. Conclusions: DTT radiotherapy using a gimbal mounted linac was clinically feasible for lung treatment without any severe acute toxicity

  20. Adaptive Radiation Therapy for Postprostatectomy Patients Using Real-Time Electromagnetic Target Motion Tracking During External Beam Radiation Therapy

    International Nuclear Information System (INIS)

    Purpose: Using real-time electromagnetic (EM) transponder tracking data recorded by the Calypso 4D Localization System, we report inter- and intrafractional target motion of the prostate bed, describe a strategy to evaluate treatment adequacy in postprostatectomy patients receiving intensity modulated radiation therapy (IMRT), and propose an adaptive workflow. Methods and Materials: Tracking data recorded by Calypso EM transponders was analyzed for postprostatectomy patients that underwent step-and-shoot IMRT. Rigid target motion parameters during beam delivery were calculated from recorded transponder positions in 16 patients with rigid transponder geometry. The delivered doses to the clinical target volume (CTV) were estimated from the planned dose matrix and the target motion for the first 3, 5, 10, and all fractions. Treatment adequacy was determined by comparing the delivered minimum dose (Dmin) with the planned Dmin to the CTV. Treatments were considered adequate if the delivered CTV Dmin is at least 95% of the planned CTV Dmin. Results: Translational target motion was minimal for all 16 patients (mean: 0.02 cm; range: −0.12 cm to 0.07 cm). Rotational motion was patient-specific, and maximum pitch, yaw, and roll were 12.2, 4.1, and 10.5°, respectively. We observed inadequate treatments in 5 patients. In these treatments, we observed greater target rotations along with large distances between the CTV centroid and transponder centroid. The treatment adequacy from the initial 10 fractions successfully predicted the overall adequacy in 4 of 5 inadequate treatments and 10 of 11 adequate treatments. Conclusion: Target rotational motion could cause underdosage to partial volume of the postprostatectomy targets. Our adaptive treatment strategy is applicable to post-prostatectomy patients receiving IMRT to evaluate and improve radiation therapy delivery

  1. Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

    Science.gov (United States)

    Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

    2014-01-01

    This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

  2. Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

    Directory of Open Access Journals (Sweden)

    Dachuan Li

    2014-11-01

    Full Text Available This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT, which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

  3. Method for diagnostics of synchronization of 0.1 Hz rhythms of cardiovascular system autonomic regulation in real time

    Directory of Open Access Journals (Sweden)

    Borovkova E.I.

    Full Text Available It is known that synchronization of slow (~0.1 Hz oscillations in heart rate and distal blood flow have a certain value for clinical cardiology. Previously we studied these oscillations by simultaneous recordings of electrocardiograms (ECG and photoplethysmogram (PPG. A novel method is proposed for detecting in real time the phase synchronization of slow oscillations in heart rate and distal blood flow from the single signal of PPG. We verified our method by applying it to experimental data (10-minute simultaneous recording of ECG and PPG at rest from 12 healthy subjects aged 18-34 years. The average error of assess the phase synchronization of 0.1 Hz oscillations was 6.9±3.6%.

  4. Autonomous Vehicles Navigation with Visual Target Tracking: Technical Approaches

    Directory of Open Access Journals (Sweden)

    Zhen Jia

    2008-12-01

    Full Text Available This paper surveys the developments of last 10 years in the area of vision based target tracking for autonomous vehicles navigation. First, the motivations and applications of using vision based target tracking for autonomous vehicles navigation are presented in the introduction section. It can be concluded that it is very necessary to develop robust visual target tracking based navigation algorithms for the broad applications of autonomous vehicles. Then this paper reviews the recent techniques in three different categories: vision based target tracking for the applications of land, underwater and aerial vehicles navigation. Next, the increasing trends of using data fusion for visual target tracking based autonomous vehicles navigation are discussed. Through data fusion the tracking performance is improved and becomes more robust. Based on the review, the remaining research challenges are summarized and future research directions are investigated.

  5. Use of Implanted Markers and Interportal Adjustment With Real-Time Tracking Radiotherapy System to Reduce Intrafraction Prostate Motion

    International Nuclear Information System (INIS)

    Purpose: Interportal adjustment was applied to patients with prostate cancer using three fiducial markers and two sets of fluoroscopy in a real-time tumor-tracking radiotherapy (RTRT) system. The incidence of table position adjustment required to keep intrafractional uncertainty within 2.0 mm was investigated in this study. Methods and Materials: The coordinates of the center of gravity of the three fiducial markers were measured at the start of every portal irradiation in intensity-modulated radiotherapy (IMRT) with seven ports. The table position was adjusted to the planned position if the discrepancy was larger than 2.0 mm in the anterior–posterior (AP), cranial–caudal (CC), or left–right (LR) directions. In total, we analyzed 4,541 observations in 20 patients who received 70 Gy in 30 fractions (7.6 times a day on average). Results: The incidence of table position adjustment at 10 minutes from the initial setup of each treatment was 14.2%, 12.3%, and 5.0% of the observations in the AP, CC, and LR directions, respectively. The accumulated incidence of the table position adjustment was significantly higher at 10 minutes than at 2 minutes for AP (p = 0.0033) and CC (p = 0.0110) but not LR (p = 0.4296). An adjustment greater than 5 mm was required at least once in the treatment period in 11 (55%) patients. Conclusions: Interportal adjustment of table position was required in more than 10% of portal irradiations during the 10-minute period after initial setup to maintain treatment accuracy within 2.0 mm.

  6. Real Time Strategy Language

    OpenAIRE

    Hayes, Roy; Beling, Peter; Scherer, William

    2014-01-01

    Real Time Strategy (RTS) games provide complex domain to test the latest artificial intelligence (AI) research. In much of the literature, AI systems have been limited to playing one game. Although, this specialization has resulted in stronger AI gaming systems it does not address the key concerns of AI researcher. AI researchers seek the development of AI agents that can autonomously interpret learn, and apply new knowledge. To achieve human level performance, current AI systems rely on game...

  7. Evaluation of TLD/Predator algorithm : Evaluation of TLD(aka Predator) algorithm used for real-time tracking of unknownobjects in a video stream from eye tracking perspective.

    OpenAIRE

    CHOKKALINGAM, BALACHANDER

    2013-01-01

    Abstract TLD is an award-winning, real-time algorithm for long-term tracking of unknown objects in video streams. The object of interest is defined by a bounding box in a single frame. TLD simultaneously tracks the object, Learns its appearance and Detects it whenever it appears in the video. The result is a real-time tracking that typically improves over time. Long-term tracking of arbitrary objects is a the core problem in many computer vision applications: surveillance, object auto-focus,...

  8. SU-D-207-05: Real-Time Intrafractional Motion Tracking During VMAT Delivery Using a Conventional Elekta CBCT System

    International Nuclear Information System (INIS)

    Purpose: Real-time kV projection streaming capability has become recently available for Elekta XVI version 5.0. This study aims to investigate the feasibility and accuracy of real-time fiducial marker tracking during CBCT acquisition with or without simultaneous VMAT delivery using a conventional Elekta linear accelerator. Methods: A client computer was connected to an on-board kV imaging system computer, and receives and processes projection images immediately after image acquisition. In-house marker tracking software based on FFT normalized cross-correlation was developed and installed in the client computer. Three gold fiducial markers with 3 mm length were implanted in a pelvis-shaped phantom with 36 cm width. The phantom was placed on a programmable motion platform oscillating in anterior-posterior and superior-inferior directions simultaneously. The marker motion was tracked in real-time for (1) a kV-only CBCT scan with treatment beam off and (2) a kV CBCT scan during a 6-MV VMAT delivery. The exposure parameters per projection were 120 kVp and 1.6 mAs. Tracking accuracy was assessed by comparing superior-inferior positions between the programmed and tracked trajectories. Results: The projection images were successfully transferred to the client computer at a frequency of about 5 Hz. In the kV-only scan, highly accurate marker tracking was achieved over the entire range of cone-beam projection angles (detection rate / tracking error were 100.0% / 0.6±0.5 mm). In the kV-VMAT scan, MV-scatter degraded image quality, particularly for lateral projections passing through the thickest part of the phantom (kV source angle ranging 70°-110° and 250°-290°), resulting in a reduced detection rate (90.5%). If the lateral projections are excluded, tracking performance was comparable to the kV-only case (detection rate / tracking error were 100.0% / 0.8±0.5 mm). Conclusion: Our phantom study demonstrated a promising Result for real-time motion tracking using a

  9. SU-D-207-05: Real-Time Intrafractional Motion Tracking During VMAT Delivery Using a Conventional Elekta CBCT System

    Energy Technology Data Exchange (ETDEWEB)

    Park, Yang-Kyun; Sharp, Gregory C.; Gierga, David P.; Winey, Brian A. [Massachusetts General Hospital, Boston, MA (United States); Ye, Sung-Joon [Seoul National University, Seoul (Korea, Republic of)

    2015-06-15

    Purpose: Real-time kV projection streaming capability has become recently available for Elekta XVI version 5.0. This study aims to investigate the feasibility and accuracy of real-time fiducial marker tracking during CBCT acquisition with or without simultaneous VMAT delivery using a conventional Elekta linear accelerator. Methods: A client computer was connected to an on-board kV imaging system computer, and receives and processes projection images immediately after image acquisition. In-house marker tracking software based on FFT normalized cross-correlation was developed and installed in the client computer. Three gold fiducial markers with 3 mm length were implanted in a pelvis-shaped phantom with 36 cm width. The phantom was placed on a programmable motion platform oscillating in anterior-posterior and superior-inferior directions simultaneously. The marker motion was tracked in real-time for (1) a kV-only CBCT scan with treatment beam off and (2) a kV CBCT scan during a 6-MV VMAT delivery. The exposure parameters per projection were 120 kVp and 1.6 mAs. Tracking accuracy was assessed by comparing superior-inferior positions between the programmed and tracked trajectories. Results: The projection images were successfully transferred to the client computer at a frequency of about 5 Hz. In the kV-only scan, highly accurate marker tracking was achieved over the entire range of cone-beam projection angles (detection rate / tracking error were 100.0% / 0.6±0.5 mm). In the kV-VMAT scan, MV-scatter degraded image quality, particularly for lateral projections passing through the thickest part of the phantom (kV source angle ranging 70°-110° and 250°-290°), resulting in a reduced detection rate (90.5%). If the lateral projections are excluded, tracking performance was comparable to the kV-only case (detection rate / tracking error were 100.0% / 0.8±0.5 mm). Conclusion: Our phantom study demonstrated a promising Result for real-time motion tracking using a

  10. Implementation of a novel real-time controller for the detection and tracking of magneto-hydrodynamic instabilities on the JET tokamak

    International Nuclear Information System (INIS)

    In this work we present the technical implementation of a digital VERSA Module Eurocard (VMEbus) system used to detect and track, in real-time, magneto-hydrodynamic instabilities on the JET tokamak. This VMEbus system runs on a 1 ms clock cycle and performs the unsupervised detection and real-time tracking of the individual components in a multi-harmonic spectrum of coherent electro-magnetic instabilities, actively driven by a set of in-vessel antennas. Its main real-time output signals are the frequency, amplitude, toroidal mode number and damping rate of such modes. Moreover, this controller also provides some of the protection and control tools for the antenna system, such as the reference for the voltage and current control waveforms, and a trip signal related to the shorted-turn protection of the antennas. Current applications of this novel controller focus on the measurement of the damping rate of Alfvén Eigenmodes with different toroidal mode numbers. The successful technical implementation and scientific exploitation of this innovative VMEbus system opens possibilities for the real-time detection and the ensuing control of electro-magnetic instabilities in other present and future fusion devices. (author)

  11. Evaluation of Dose Uncertainty to the Target Associated With Real-Time Tracking Intensity-Modulated Radiation Therapy Using the CyberKnife Synchrony System.

    Science.gov (United States)

    Iwata, Hiromitsu; Inoue, Mitsuhiro; Shiomi, Hiroya; Murai, Taro; Tatewaki, Koshi; Ohta, Seiji; Okawa, Kohei; Yokota, Naoki; Shibamoto, Yuta

    2016-02-01

    We investigated the dose uncertainty caused by errors in real-time tracking intensity-modulated radiation therapy (IMRT) using the CyberKnife Synchrony Respiratory Tracking System (SRTS). Twenty lung tumors that had been treated with non-IMRT real-time tracking using CyberKnife SRTS were used for this study. After validating the tracking error in each case, we did 40 IMRT planning using 8 different collimator sizes for the 20 patients. The collimator size was determined for each planning target volume (PTV); smaller ones were one-half, and larger ones three-quarters, of the PTV diameter. The planned dose was 45 Gy in 4 fractions prescribed at 95% volume border of the PTV. Thereafter, the tracking error in each case was substituted into calculation software developed in house and randomly added in the setting of each beam. The IMRT planning incorporating tracking errors was simulated 1000 times, and various dose data on the clinical target volume (CTV) were compared with the original data. The same simulation was carried out by changing the fraction number from 1 to 6 in each IMRT plan. Finally, a total of 240 000 plans were analyzed. With 4 fractions, the change in the CTV maximum and minimum doses was within 3.0% (median) for each collimator. The change in D99 and D95 was within 2.0%. With decreases in the fraction number, the CTV coverage rate and the minimum dose decreased and varied greatly. The accuracy of real-time tracking IMRT delivered in 4 fractions using CyberKnife SRTS was considered to be clinically acceptable. PMID:25520272

  12. Integration of Real-Time Internal Electromagnetic Position Monitoring Coupled With Dynamic Multileaf Collimator Tracking: An Intensity-Modulated Radiation Therapy Feasibility Study

    International Nuclear Information System (INIS)

    Purpose: Continuous tumor position measurement coupled with a tumor tracking system would result in a highly accurate radiation therapy system. Previous internal position monitoring systems have been limited by fluoroscopic radiation dose and low delivery efficiency. We aimed to incorporate a continuous, electromagnetic, three-dimensional position tracking system (Calypso 4D Localization System) with a dynamic multileaf collimator (DMLC)-based dose delivery system. Methods and Materials: A research version of the Calypso System provided real-time position of three Beacon transponders. These real-time three-dimensional positions were sent to research MLC controller with a motion-tracking algorithm that changed the planned leaf sequence. Electromagnetic transponders were embedded in a solid water film phantom that moved with patient lung trajectories while being irradiated with two different plans: a step-and-shoot intensity-modulated radiation therapy (S-IMRT) field and a dynamic IMRT (D-IMRT) field. Dosimetric results were recorded under three conditions: no intervention, DMLC tracking, and a spatial gating system. Results: Dosimetric accuracy was comparable for gating and DMLC tracking. Failure rates for gating/DMLC tracking are as follows: ±3 cGy 10.9/ 7.5% for S-IMRT, 3.3/7.2% for D-IMRT; gamma (3mm/3%) 0.2/1.2% for S-IMRT, 0.2/0.2% for D-IMRT. DMLC tracking proved to be as efficient as standard delivery, with a two- to fivefold efficiency increase over gating. Conclusions: Real-time target position information was successfully integrated into a DMLC effector system to modify dose delivery. Experimental results show both comparable dosimetric accuracy as well as improved efficiency compared with spatial gating.

  13. REAL-TIME FACE TRACKING ALGORITHM BASED ON ONLINE INCREMENTAL LEARNING%基于在线增量学习的实时人脸跟踪算法

    Institute of Scientific and Technical Information of China (English)

    包芳; 张炎凯; 王士同

    2016-01-01

    提出基于在线增量式极端随机森林分类器的实时人脸跟踪算法。算法用在线极端随机森林分类器实现基于检测的跟踪,并结合动态目标框架和 P-N 学习矫正检测的错误。实验结果表明,该算法能够在不确定背景下对任意人脸实现较长时间段内的稳定快速的实时跟踪,并能有效排除背景等的干扰,效果较好。%The paper proposes a real-time face tracking algorithm,which is based on online incremental extremely random forests classifier.The algorithm achieves detection-based real-time tracking using online incremental extremely random forests classifier,and combines dynamic target framework and P-N learning to correct detection errors.Experimental results show,the proposed algorithm can realise fast and stable real-time tracking for any face in a longer period under uncertain background,and can effectively overcome interferences such as background with preferable effect.

  14. Toward Submillimeter Accuracy in the Management of Intrafraction Motion: The Integration of Real-Time Internal Position Monitoring and Multileaf Collimator Target Tracking

    International Nuclear Information System (INIS)

    Purpose: We report on an integrated system for real-time adaptive radiation delivery to moving tumors. The system combines two promising technologies-three-dimensional internal position monitoring using implanted electromagnetically excitable transponders and corresponding real-time beam adaptation using a dynamic multileaf collimator (DMLC). Methods and Materials: In a multi-institutional academic and industrial collaboration, a research version of the Calypso position monitoring system was integrated with a DMLC-based four-dimensional intensity-modulated radiotherapy delivery system using a Varian 120-leaf multileaf collimator (MLC). Two important determinants of system performance-latency (i.e., elapsed time between target motion and MLC response) and geometric accuracy-were investigated. Latency was quantified by acquiring continuous megavoltage X-ray images of a moving phantom (with embedded transponders) that was tracked in real time by a circular MLC field. The latency value was input into a motion prediction algorithm within the DMLC tracking system. Geometric accuracy was calculated as the root-mean-square positional error between the target and the centroid of the MLC aperture for patient-derived three-dimensional motion trajectories comprising two lung tumor traces and one prostate trace. Results: System latency was determined to be approximately 220 milliseconds. Tracking accuracy was observed to be sub-2 mm for the respiratory motion traces and sub-1 mm for prostate motion. Conclusion: We have developed and characterized a research version of a novel four-dimensional delivery system that integrates nonionizing radiation-based internal position monitoring and accurate real-time DMLC-based beam adaptation. This system represents a significant step toward achieving the eventual goal of geometrically ideal dose delivery to moving tumors.

  15. Autonomous target tracking of UAVs based on low-power neural network hardware

    Science.gov (United States)

    Yang, Wei; Jin, Zhanpeng; Thiem, Clare; Wysocki, Bryant; Shen, Dan; Chen, Genshe

    2014-05-01

    Detecting and identifying targets in unmanned aerial vehicle (UAV) images and videos have been challenging problems due to various types of image distortion. Moreover, the significantly high processing overhead of existing image/video processing techniques and the limited computing resources available on UAVs force most of the processing tasks to be performed by the ground control station (GCS) in an off-line manner. In order to achieve fast and autonomous target identification on UAVs, it is thus imperative to investigate novel processing paradigms that can fulfill the real-time processing requirements, while fitting the size, weight, and power (SWaP) constrained environment. In this paper, we present a new autonomous target identification approach on UAVs, leveraging the emerging neuromorphic hardware which is capable of massively parallel pattern recognition processing and demands only a limited level of power consumption. A proof-of-concept prototype was developed based on a micro-UAV platform (Parrot AR Drone) and the CogniMemTMneural network chip, for processing the video data acquired from a UAV camera on the y. The aim of this study was to demonstrate the feasibility and potential of incorporating emerging neuromorphic hardware into next-generation UAVs and their superior performance and power advantages towards the real-time, autonomous target tracking.

  16. Real-time monitoring of metabolic function in liver-on-chip microdevices tracks the dynamics of mitochondrial dysfunction.

    Science.gov (United States)

    Bavli, Danny; Prill, Sebastian; Ezra, Elishai; Levy, Gahl; Cohen, Merav; Vinken, Mathieu; Vanfleteren, Jan; Jaeger, Magnus; Nahmias, Yaakov

    2016-04-19

    Microfluidic organ-on-a-chip technology aims to replace animal toxicity testing, but thus far has demonstrated few advantages over traditional methods. Mitochondrial dysfunction plays a critical role in the development of chemical and pharmaceutical toxicity, as well as pluripotency and disease processes. However, current methods to evaluate mitochondrial activity still rely on end-point assays, resulting in limited kinetic and prognostic information. Here, we present a liver-on-chip device capable of maintaining human tissue for over a month in vitro under physiological conditions. Mitochondrial respiration was monitored in real time using two-frequency phase modulation of tissue-embedded phosphorescent microprobes. A computer-controlled microfluidic switchboard allowed contiguous electrochemical measurements of glucose and lactate, providing real-time analysis of minute shifts from oxidative phosphorylation to anaerobic glycolysis, an early indication of mitochondrial stress. We quantify the dynamics of cellular adaptation to mitochondrial damage and the resulting redistribution of ATP production during rotenone-induced mitochondrial dysfunction and troglitazone (Rezulin)-induced mitochondrial stress. We show troglitazone shifts metabolic fluxes at concentrations previously regarded as safe, suggesting a mechanism for its observed idiosyncratic effect. Our microfluidic platform reveals the dynamics and strategies of cellular adaptation to mitochondrial damage, a unique advantage of organ-on-chip technology. PMID:27044092

  17. Magnetic Particle / Magnetic Resonance Imaging: In-Vitro MPI-Guided Real Time Catheter Tracking and 4D Angioplasty Using a Road Map and Blood Pool Tracer Approach.

    Directory of Open Access Journals (Sweden)

    Johannes Salamon

    Full Text Available In-vitro evaluation of the feasibility of 4D real time tracking of endovascular devices and stenosis treatment with a magnetic particle imaging (MPI / magnetic resonance imaging (MRI road map approach and an MPI-guided approach using a blood pool tracer.A guide wire and angioplasty-catheter were labeled with a thin layer of magnetic lacquer. For real time MPI a custom made software framework was developed. A stenotic vessel phantom filled with saline or superparamagnetic iron oxide nanoparticles (MM4 was equipped with bimodal fiducial markers for co-registration in preclinical 7T MRI and MPI. In-vitro angioplasty was performed inflating the balloon with saline or MM4. MPI data were acquired using a field of view of 37.3×37.3×18.6 mm3 and a frame rate of 46 volumes/sec. Analysis of the magnetic lacquer-marks on the devices were performed with electron microscopy, atomic absorption spectrometry and micro-computed tomography.Magnetic marks allowed for MPI/MRI guidance of interventional devices. Bimodal fiducial markers enable MPI/MRI image fusion for MRI based roadmapping. MRI roadmapping and the blood pool tracer approach facilitate MPI real time monitoring of in-vitro angioplasty. Successful angioplasty was verified with MPI and MRI. Magnetic marks consist of micrometer sized ferromagnetic plates mainly composed of iron and iron oxide.4D real time MP imaging, tracking and guiding of endovascular instruments and in-vitro angioplasty is feasible. In addition to an approach that requires a blood pool tracer, MRI based roadmapping might emerge as a promising tool for radiation free 4D MPI-guided interventions.

  18. Magnetic Particle / Magnetic Resonance Imaging: In-Vitro MPI-Guided Real Time Catheter Tracking and 4D Angioplasty Using a Road Map and Blood Pool Tracer Approach

    Science.gov (United States)

    Jung, Caroline; Kaul, Michael Gerhard; Werner, Franziska; Them, Kolja; Reimer, Rudolph; Nielsen, Peter; vom Scheidt, Annika; Adam, Gerhard; Knopp, Tobias; Ittrich, Harald

    2016-01-01

    Purpose In-vitro evaluation of the feasibility of 4D real time tracking of endovascular devices and stenosis treatment with a magnetic particle imaging (MPI) / magnetic resonance imaging (MRI) road map approach and an MPI-guided approach using a blood pool tracer. Materials and Methods A guide wire and angioplasty-catheter were labeled with a thin layer of magnetic lacquer. For real time MPI a custom made software framework was developed. A stenotic vessel phantom filled with saline or superparamagnetic iron oxide nanoparticles (MM4) was equipped with bimodal fiducial markers for co-registration in preclinical 7T MRI and MPI. In-vitro angioplasty was performed inflating the balloon with saline or MM4. MPI data were acquired using a field of view of 37.3×37.3×18.6 mm3 and a frame rate of 46 volumes/sec. Analysis of the magnetic lacquer-marks on the devices were performed with electron microscopy, atomic absorption spectrometry and micro-computed tomography. Results Magnetic marks allowed for MPI/MRI guidance of interventional devices. Bimodal fiducial markers enable MPI/MRI image fusion for MRI based roadmapping. MRI roadmapping and the blood pool tracer approach facilitate MPI real time monitoring of in-vitro angioplasty. Successful angioplasty was verified with MPI and MRI. Magnetic marks consist of micrometer sized ferromagnetic plates mainly composed of iron and iron oxide. Conclusions 4D real time MP imaging, tracking and guiding of endovascular instruments and in-vitro angioplasty is feasible. In addition to an approach that requires a blood pool tracer, MRI based roadmapping might emerge as a promising tool for radiation free 4D MPI-guided interventions. PMID:27249022

  19. Note: Real time optical sensing of alpha-radiation emitting radioactive aerosols based on solid state nuclear track detector

    Energy Technology Data Exchange (ETDEWEB)

    Kulkarni, A.; Bak, M. S., E-mail: tkim@skku.edu, E-mail: moonsoo@skku.edu [School of Mechanical Engineering, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Ha, S. [SKKU Advanced Institute of Nano Technology (SAINT), Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Joshirao, P.; Manchanda, V. [Department of Energy Science, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Kim, T., E-mail: tkim@skku.edu, E-mail: moonsoo@skku.edu [School of Mechanical Engineering, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); SKKU Advanced Institute of Nano Technology (SAINT), Sungkyunkwan University, Suwon 440-746 (Korea, Republic of)

    2015-06-15

    A sensitive radioactive aerosols sensor has been designed and developed. Its design guidance is based on the need for a low operational cost and reliable measurements to provide daily aerosol monitoring. The exposure of diethylene-glycol bis (allylcarbonate) to radiation causes modification of its physico-chemical properties like surface roughness and reflectance. In the present study, optical sensor based on the reflectance measurement has been developed with an aim to monitor real time presence of alpha radioactive aerosols emitted from thorium nitrate hydrate. The results shows that the fabricated sensor can detect 0.0157 kBq to 0.1572 kBq of radio activity by radioactive aerosols generated from (Th(NO{sub 3}){sub 4} ⋅ 5H{sub 2}O) at 0.1 ml/min flow rate. The proposed instrument will be helpful to monitor radioactive aerosols in/around a nuclear facility, building construction sites, mines, and granite polishing factories.

  20. Note: Real time optical sensing of alpha-radiation emitting radioactive aerosols based on solid state nuclear track detector

    International Nuclear Information System (INIS)

    A sensitive radioactive aerosols sensor has been designed and developed. Its design guidance is based on the need for a low operational cost and reliable measurements to provide daily aerosol monitoring. The exposure of diethylene-glycol bis (allylcarbonate) to radiation causes modification of its physico-chemical properties like surface roughness and reflectance. In the present study, optical sensor based on the reflectance measurement has been developed with an aim to monitor real time presence of alpha radioactive aerosols emitted from thorium nitrate hydrate. The results shows that the fabricated sensor can detect 0.0157 kBq to 0.1572 kBq of radio activity by radioactive aerosols generated from (Th(NO3)4 ⋅ 5H2O) at 0.1 ml/min flow rate. The proposed instrument will be helpful to monitor radioactive aerosols in/around a nuclear facility, building construction sites, mines, and granite polishing factories

  1. Real-time intensity based 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy

    Science.gov (United States)

    Furtado, H.; Steiner, E.; Stock, M.; Georg, D.; Birkfellner, W.

    2014-03-01

    Intra-fractional respiratorymotion during radiotherapy is one of themain sources of uncertainty in dose application creating the need to extend themargins of the planning target volume (PTV). Real-time tumormotion tracking by 2D/3D registration using on-board kilo-voltage (kV) imaging can lead to a reduction of the PTV. One limitation of this technique when using one projection image, is the inability to resolve motion along the imaging beam axis. We present a retrospective patient study to investigate the impact of paired portal mega-voltage (MV) and kV images, on registration accuracy. We used data from eighteen patients suffering from non small cell lung cancer undergoing regular treatment at our center. For each patient we acquired a planning CT and sequences of kV and MV images during treatment. Our evaluation consisted of comparing the accuracy of motion tracking in 6 degrees-of-freedom(DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. We use graphics processing unit rendering for real-time performance. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 3.3 mm to 1.8 mm and the motion along AP was successfully extracted. The mean registration time was of 190+/-35ms. Our evaluation shows that using kVMV image pairs leads to improved motion extraction in 6 DOF. Therefore, this approach is suitable for accurate, real-time tumor motion tracking with a conventional LINAC.

  2. 焊管纵向焊缝实时跟踪系统的研究%Research on the Real-time Longitudinal Weld Tracking System of Welded Pipes

    Institute of Scientific and Technical Information of China (English)

    杜兴吉; 慎建民; 曹志樑; 陆明红; 邵羽

    2013-01-01

    A real-time weld tracking system of arc slide was presented in this paper. The working principle, the major structure ,and the software design of control system were described. The laser sensor is used in this system to measure the position of the weld, and the fuzzy controller with serf-adjusting function is adopted to rectify deviation of the weld. DSP is used as the central controller to produce control signal, which drives to move along weight direction and arc slide, in order to realize real-time weld tracking .The actual application results showed that the system can realize real-time automatic weld tracking of the welding torch,which can meet the requirement of the continuous welded pipe production line.%提出了一种弧形滑架的焊缝实时跟踪系统,对其工作原理、主体结构、控制系统的软件设计等要点进行了阐述.该系统采用激光传感器测量焊缝的位置,并采用一种带修正函数的控制规则自调整模糊控制进行焊缝的纠偏.采用DSP作为核心控制器产生控制信号,驱动焊枪沿高度方向运动并沿弧形导轨转动,实现焊枪对焊缝的实时自动跟踪.生产中的使用结果表明:该系统可以实现焊枪对焊缝的实时自动跟踪,完全满足连续焊管生产线的需要.

  3. 3D Track-keeping Method for Autonomous Underwater Vehicle

    Institute of Scientific and Technical Information of China (English)

    WANG Wei; Bian Xin-Qian; Chang Zong-Hu

    2002-01-01

    In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.

  4. Real-time transit tracking system to evolve and facilitate the transportation process at the Applied Science University

    OpenAIRE

    Mohammad Shkoukani; Fadi Ajjam, Hamza Ali; Hisham Salah

    2016-01-01

    Travel and transportation are important for most people and play a major role in the human life; therefore this paper describes a prototype system called eBus which is a tracking system for campus buses at the Applied Science University. This system consists of two parts an Android application that is used by both the driver and the student which provides the ability for the students to track the buses’ movements on a specific route and show their information on the map and it also enables th...

  5. TrAVis to Enhance Online Tutoring and Learning Activities: Real-Time Visualization of Students Tracking Data

    Science.gov (United States)

    May, Madeth; George, Sebastien; Prevot, Patrick

    2011-01-01

    Purpose: This paper presents a part of our research work that places an emphasis on Tracking Data Analysis and Visualization (TrAVis) tools, a web-based system, designed to enhance online tutoring and learning activities, supported by computer-mediated communication (CMC) tools. TrAVis is particularly dedicated to assist both tutors and students…

  6. A Real-time Tracking Method Based on Object Segmentation%一种基于目标分割的实时跟踪方法

    Institute of Scientific and Technical Information of China (English)

    陈临强; 汪雯斌; 何一娜

    2013-01-01

    In order to reduce color similar background effect on target tracking process, this paper proposes a real-time target tracking method based on object segmentation. Multiple objects are obtained by using background subtraction method. Each target state can be updated by using the position, size and color characteristic of each target. The similar targets in the consecutive frames can be tracked by using matching targets and when the occluded targets separate, the targets can be tracked well by using this feature. Experimental results show that this method is fast and has a desirable tracking result.%为减少颜色相似背景在目标跟踪过程中对跟踪结果的影响,提出一种基于目标分割的实时跟踪方法.利用背景差分的方法进行目标分割,使用目标位置、大小及颜色的特征完成目标状态的更新,对连续帧之间的目标实施匹配跟踪,当2个目标重合分离时采用目标大小、颜色特征实现匹配.实验结果表明,该方法匹配跟踪速度较快、跟踪效果较好.

  7. The Schisto Track: A System for Gathering and Monitoring Epidemiological Surveys by Connecting Geographical Information Systems in Real Time

    OpenAIRE

    Leal Neto, Onicio B; Albuquerque, Cesar M; Albuquerque, Jones O; Barbosa, Constança S.

    2014-01-01

    Background Using the Android platform as a notification instrument for diseases and disorders forms a new alternative for computerization of epidemiological studies. Objective The objective of our study was to construct a tool for gathering epidemiological data on schistosomiasis using the Android platform. Methods The developed application (app), named the Schisto Track, is a tool for data capture and analysis that was designed to meet the needs of a traditional epidemiological survey. An in...

  8. Adaptive Visual Face Tracking for an Autonomous Robot

    NARCIS (Netherlands)

    van Hoof, Herke; van der Zant, Tijn; Wiering, Marco

    2011-01-01

    Perception is an essential ability for autonomous robots in non-standardized conditions. However, the appearance of objects can change between different conditions. A system visually tracking a target based on its appearance could lose its target in those cases. A tracker learning the appearance of

  9. Position tracking of moving liver lesion based on real-time registration between 2D ultrasound and 3D preoperative images

    Energy Technology Data Exchange (ETDEWEB)

    Weon, Chijun; Hyun Nam, Woo; Lee, Duhgoon; Ra, Jong Beom, E-mail: jbra@kaist.ac.kr [Department of Electrical Engineering, KAIST, Daejeon 305-701 (Korea, Republic of); Lee, Jae Young [Department of Radiology, Seoul National University Hospital, Seoul 110-744 (Korea, Republic of)

    2015-01-15

    Purpose: Registration between 2D ultrasound (US) and 3D preoperative magnetic resonance (MR) (or computed tomography, CT) images has been studied recently for US-guided intervention. However, the existing techniques have some limits, either in the registration speed or the performance. The purpose of this work is to develop a real-time and fully automatic registration system between two intermodal images of the liver, and subsequently an indirect lesion positioning/tracking algorithm based on the registration result, for image-guided interventions. Methods: The proposed position tracking system consists of three stages. In the preoperative stage, the authors acquire several 3D preoperative MR (or CT) images at different respiratory phases. Based on the transformations obtained from nonrigid registration of the acquired 3D images, they then generate a 4D preoperative image along the respiratory phase. In the intraoperative preparatory stage, they properly attach a 3D US transducer to the patient’s body and fix its pose using a holding mechanism. They then acquire a couple of respiratory-controlled 3D US images. Via the rigid registration of these US images to the 3D preoperative images in the 4D image, the pose information of the fixed-pose 3D US transducer is determined with respect to the preoperative image coordinates. As feature(s) to use for the rigid registration, they may choose either internal liver vessels or the inferior vena cava. Since the latter is especially useful in patients with a diffuse liver disease, the authors newly propose using it. In the intraoperative real-time stage, they acquire 2D US images in real-time from the fixed-pose transducer. For each US image, they select candidates for its corresponding 2D preoperative slice from the 4D preoperative MR (or CT) image, based on the predetermined pose information of the transducer. The correct corresponding image is then found among those candidates via real-time 2D registration based on a

  10. Real-time tracking and targeting computations and rocket-vehicle aeroballistics for the PLACES ionospheric-plasma test series

    International Nuclear Information System (INIS)

    The PLACES (Position Location and Communication Effects Simulations) test program, conducted in December 1980 at Eglin Gulf Test Range, involved a series of ionospheric releases of barium/barium-nitrate vapor. The Defense Nuclear Agency sponsored program investigated effects of a structured ionospheric plasma (similar to that produced by a high-altitude nuclear explosion) on satellite navigation systems and provided in situ measurement of plasma structure. Terrier-Tomahawk rocket systems boosted the barium payloads, beacon payloads (plasma occultation experiment), and probe payloads (plasma in situ measurement). Drifting plasma tracking procedures, beacon-and probe-vehicle targeting procedures, and vehicle flight test results are presented

  11. Fluorescent sperm offer a method for tracking the real-time success of ejaculates when they compete to fertilise eggs

    Science.gov (United States)

    Lymbery, Rowan A.; Kennington, W. Jason; Evans, Jonathan P.

    2016-01-01

    Despite intensive research effort, many uncertainties remain in the field of gamete-level sexual selection, particularly in understanding how sperm from different males interact when competing for fertilisations. Here, we demonstrate the utility of broadcast spawning marine invertebrates for unravelling these mysteries, highlighting their mode of reproduction and, in some species, unusual patterns of mitochondrial inheritance. We present a method utilising both properties in the blue mussel, Mytilus galloprovincialis. In mytilids and many other bivalves, both sperm and egg mitochondria are inherited. We exploit this, using the vital mitochondrial dye MitoTracker, to track the success of sperm from individual males when they compete with those from rivals to fertilise eggs. We confirm that dying mitochondria has no adverse effects on in vitro measures of sperm motility (reflecting mitochondrial energetics) or sperm competitive fertilisation success. Therefore, we propose the technique as a powerful and logistically tractable tool for sperm competition studies. Importantly, our method allows the competitive fertilisation success of sperm from any male to be measured directly and disentangled from confounding effects of post-fertilisation embryo survival. Moreover, the mitochondrial dye has broader applications in taxa without paternal mitochondrial inheritance, for example by tracking the dynamics of competing ejaculates prior to fertilisation. PMID:26941059

  12. Fluorescent sperm offer a method for tracking the real-time success of ejaculates when they compete to fertilise eggs.

    Science.gov (United States)

    Lymbery, Rowan A; Kennington, W Jason; Evans, Jonathan P

    2016-01-01

    Despite intensive research effort, many uncertainties remain in the field of gamete-level sexual selection, particularly in understanding how sperm from different males interact when competing for fertilisations. Here, we demonstrate the utility of broadcast spawning marine invertebrates for unravelling these mysteries, highlighting their mode of reproduction and, in some species, unusual patterns of mitochondrial inheritance. We present a method utilising both properties in the blue mussel, Mytilus galloprovincialis. In mytilids and many other bivalves, both sperm and egg mitochondria are inherited. We exploit this, using the vital mitochondrial dye MitoTracker, to track the success of sperm from individual males when they compete with those from rivals to fertilise eggs. We confirm that dying mitochondria has no adverse effects on in vitro measures of sperm motility (reflecting mitochondrial energetics) or sperm competitive fertilisation success. Therefore, we propose the technique as a powerful and logistically tractable tool for sperm competition studies. Importantly, our method allows the competitive fertilisation success of sperm from any male to be measured directly and disentangled from confounding effects of post-fertilisation embryo survival. Moreover, the mitochondrial dye has broader applications in taxa without paternal mitochondrial inheritance, for example by tracking the dynamics of competing ejaculates prior to fertilisation. PMID:26941059

  13. Using Real-time Event Tracking Sensitivity Analysis to Overcome Sensor Measurement Uncertainties of Geo-Information Management in Drilling Disasters

    Science.gov (United States)

    Tavakoli, S.; Poslad, S.; Fruhwirth, R.; Winter, M.

    2012-04-01

    This paper introduces an application of a novel EventTracker platform for instantaneous Sensitivity Analysis (SA) of large scale real-time geo-information. Earth disaster management systems demand high quality information to aid a quick and timely response to their evolving environments. The idea behind the proposed EventTracker platform is the assumption that modern information management systems are able to capture data in real-time and have the technological flexibility to adjust their services to work with specific sources of data/information. However, to assure this adaptation in real time, the online data should be collected, interpreted, and translated into corrective actions in a concise and timely manner. This can hardly be handled by existing sensitivity analysis methods because they rely on historical data and lazy processing algorithms. In event-driven systems, the effect of system inputs on its state is of value, as events could cause this state to change. This 'event triggering' situation underpins the logic of the proposed approach. Event tracking sensitivity analysis method describes the system variables and states as a collection of events. The higher the occurrence of an input variable during the trigger of event, the greater its potential impact will be on the final analysis of the system state. Experiments were designed to compare the proposed event tracking sensitivity analysis with existing Entropy-based sensitivity analysis methods. The results have shown a 10% improvement in a computational efficiency with no compromise for accuracy. It has also shown that the computational time to perform the sensitivity analysis is 0.5% of the time required compared to using the Entropy-based method. The proposed method has been applied to real world data in the context of preventing emerging crises at drilling rigs. One of the major purposes of such rigs is to drill boreholes to explore oil or gas reservoirs with the final scope of recovering the content

  14. Object tracking mask-based NLUT on GPUs for real-time generation of holographic videos of three-dimensional scenes.

    Science.gov (United States)

    Kwon, M-W; Kim, S-C; Yoon, S-E; Ho, Y-S; Kim, E-S

    2015-02-01

    A new object tracking mask-based novel-look-up-table (OTM-NLUT) method is proposed and implemented on graphics-processing-units (GPUs) for real-time generation of holographic videos of three-dimensional (3-D) scenes. Since the proposed method is designed to be matched with software and memory structures of the GPU, the number of compute-unified-device-architecture (CUDA) kernel function calls and the computer-generated hologram (CGH) buffer size of the proposed method have been significantly reduced. It therefore results in a great increase of the computational speed of the proposed method and enables real-time generation of CGH patterns of 3-D scenes. Experimental results show that the proposed method can generate 31.1 frames of Fresnel CGH patterns with 1,920 × 1,080 pixels per second, on average, for three test 3-D video scenarios with 12,666 object points on three GPU boards of NVIDIA GTX TITAN, and confirm the feasibility of the proposed method in the practical application of electro-holographic 3-D displays. PMID:25836082

  15. Use of MV and kV imager correlation for maintaining continuous real-time 3D internal marker tracking during beam interruptions

    Science.gov (United States)

    Wiersma, R. D.; Riaz, N.; Dieterich, Sonja; Suh, Yelin; Xing, L.

    2009-01-01

    The integration of onboard kV imaging together with a MV electronic portal imaging device (EPID) on linear accelerators (LINAC) can provide an easy to implement real-time 3D organ position monitoring solution for treatment delivery. Currently, real-time MV-kV tracking has only been demonstrated by simultaneous imagining by both MV and kV imaging devices. However, modalities such as step-and-shoot IMRT (SS-IMRT), which inherently contain MV beam interruptions, can lead to loss of target information necessary for 3D localization. Additionally, continuous kV imaging throughout the treatment delivery can lead to high levels of imaging dose to the patient. This work demonstrates for the first time how full 3D target tracking can be maintained even in the presence of such beam interruption, or MV/kV beam interleave, by use of a relatively simple correlation model together with MV-kV tracking. A moving correlation model was constructed using both present and prior positions of the marker in the available MV or kV image to compute the position of the marker on the interrupted imager. A commercially available radiotherapy system, equipped with both MV and kV imaging devices, was used to deliver typical SS-IMRT lung treatment plans to a 4D phantom containing internally embedded metallic markers. To simulate actual lung tumor motion, previous recorded 4D lung patient motion data were used. Lung tumor motion data of five separate patients were inputted into the 4D phantom, and typical SS-IMRT lung plans were delivered to simulate actual clinical deliveries. Application of the correlation model to SS-IMRT lung treatment deliveries was found to be an effective solution for maintaining continuous 3D tracking during 'step' beam interruptions. For deliveries involving five or more gantry angles with 50 or more fields per plan, the positional errors were found to have <=1 mm root mean squared error (RMSE) in all three spatial directions. In addition to increasing the robustness of

  16. Real-Time Detection and Tracking of Vital Signs with an Ambulatory Subject Using Millimeter-Wave Interferometry

    Science.gov (United States)

    Mikhelson, Ilya V.

    Finding a subject's heart rate from a distance without any contact is a difficult and very practical problem. This kind of technology would allow more comfortable patient monitoring in hospitals or in home settings. It would also allow another level of security screening, as a person's heart rate increases in stressful situations, such as when lying or hiding malicious intent. In addition, the fact that the heart rate is obtained remotely means that the subject would not have to know he/she is being monitored at all, adding to the efficacy of the measurement. Using millimeter-wave interferometry, a signal can be obtained that contains composite chest wall motion made up of component motions due to cardiac activity, respiration, and interference. To be of use, these components have to be separated from each other by signal processing. To do this, the quadrature and in-phase components of the received signal are analyzed to get a displacement waveform. After that, processing can be done on that waveform in either the time or frequency domains to find the individual heartbeats. The first method is to find the power spectrum of the displacement waveform and to look for peaks corresponding to heartbeats and respiration. Another approach is to examine the signal in the time domain using wavelets for multiresolution analysis. One more method involves studying the statistics of the wavelet-processed signal. The final method uses a heartbeat model along with probabilistic processing to find heartbeats. For any of the above methods to work, the millimeter-wave sensor has to be accurately pointed at the subject's chest. However, even small subject motions can render the rest of the gathered data useless as the antenna may have lost its aim. To combat this, a color and a depth camera are used with a servo-pan/tilt base. My program finds a face in the image and subsequently tracks that face through upcoming frames. The pan/tilt base adjusts the aim of the antenna depending on

  17. A Real-Time Method to Detect and Track Moving Objects (DATMO from Unmanned Aerial Vehicles (UAVs Using a Single Camera

    Directory of Open Access Journals (Sweden)

    Bruce MacDonald

    2012-04-01

    Full Text Available We develop a real-time method to detect and track moving objects (DATMO from unmanned aerial vehicles (UAVs using a single camera. To address the challenging characteristics of these vehicles, such as continuous unrestricted pose variation and low-frequency vibrations, new approaches must be developed. The main concept proposed in this work is to create an artificial optical flow field by estimating the camera motion between two subsequent video frames. The core of the methodology consists of comparing this artificial flow with the real optical flow directly calculated from the video feed. The motion of the UAV between frames is estimated with available parallel tracking and mapping techniques that identify good static features in the images and follow them between frames. By comparing the two optical flows, a list of dynamic pixels is obtained and then grouped into dynamic objects. Tracking these dynamic objects through time and space provides a filtering procedure to eliminate spurious events and misdetections. The algorithms have been tested with a quadrotor platform using a commercial camera.

  18. A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

    International Nuclear Information System (INIS)

    In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. (author)

  19. Real-time vision systems

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, R.; Hernandez, J.E.; Lu, Shin-yee [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Many industrial and defence applications require an ability to make instantaneous decisions based on sensor input of a time varying process. Such systems are referred to as `real-time systems` because they process and act on data as it occurs in time. When a vision sensor is used in a real-time system, the processing demands can be quite substantial, with typical data rates of 10-20 million samples per second. A real-time Machine Vision Laboratory (MVL) was established in FY94 to extend our years of experience in developing computer vision algorithms to include the development and implementation of real-time vision systems. The laboratory is equipped with a variety of hardware components, including Datacube image acquisition and processing boards, a Sun workstation, and several different types of CCD cameras, including monochrome and color area cameras and analog and digital line-scan cameras. The equipment is reconfigurable for prototyping different applications. This facility has been used to support several programs at LLNL, including O Division`s Peacemaker and Deadeye Projects as well as the CRADA with the U.S. Textile Industry, CAFE (Computer Aided Fabric Inspection). To date, we have successfully demonstrated several real-time applications: bullet tracking, stereo tracking and ranging, and web inspection. This work has been documented in the ongoing development of a real-time software library.

  20. Robot vision for autonomous object learning and tracking

    OpenAIRE

    Sanfeliu Cortés, Alberto

    2003-01-01

    In this paper we present a summary of some of the research that we are developing in the Institute of Robotics of the CSIC-UPC, in the field of Learning and Robot Vision for autonomous mobile robots. We describe the problems that we have found and some solutions that have been applied in two issues: tracking objects and learning and recognition of 3D objects in robotic environments. We will explain some of the results accomplished.

  1. Contour tracking control for the REMUS autonomous underwater vehicle

    OpenAIRE

    Van Reet, Alan R.

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation. Use of a contour tracking control algorithm in lieu of preprogrammed waypoint navigation offers distinct advantages within new challenges. The difficult nature of this problem lies in the non-trivial connection between the necessary corrective action and the feedback error used in traditional co...

  2. Street Viewer: An Autonomous Vision Based Traffic Tracking System.

    Science.gov (United States)

    Bottino, Andrea; Garbo, Alessandro; Loiacono, Carmelo; Quer, Stefano

    2016-01-01

    The development of intelligent transportation systems requires the availability of both accurate traffic information in real time and a cost-effective solution. In this paper, we describe Street Viewer, a system capable of analyzing the traffic behavior in different scenarios from images taken with an off-the-shelf optical camera. Street Viewer operates in real time on embedded hardware architectures with limited computational resources. The system features a pipelined architecture that, on one side, allows one to exploit multi-threading intensively and, on the other side, allows one to improve the overall accuracy and robustness of the system, since each layer is aimed at refining for the following layers the information it receives as input. Another relevant feature of our approach is that it is self-adaptive. During an initial setup, the application runs in learning mode to build a model of the flow patterns in the observed area. Once the model is stable, the system switches to the on-line mode where the flow model is used to count vehicles traveling on each lane and to produce a traffic information summary. If changes in the flow model are detected, the system switches back autonomously to the learning mode. The accuracy and the robustness of the system are analyzed in the paper through experimental results obtained on several different scenarios and running the system for long periods of time. PMID:27271627

  3. Model-based Real-time Visualization of Realistic Three-Dimensional Heat Maps for Mobile Eye Tracking and Eye Tracking in Virtual Reality

    OpenAIRE

    Pfeiffer, Thies; Memili, Cem

    2016-01-01

    Heat maps, or more generally, attention maps or saliency maps are an often used technique to visualize eye-tracking data. With heat maps qualitative information about visual processing can be easily visualized and communicated between experts and laymen. They are thus a versatile tool for many disciplines, in particular for usability engineering, and are often used to get a first overview about recorded eye-tracking data. Today, heat maps are typically generated for 2D stimuli that have b...

  4. Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

    Science.gov (United States)

    Kadouf, Hani Hunud A.; Mohd Mustafah, Yasir

    2013-12-01

    With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects.

  5. Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

    International Nuclear Information System (INIS)

    With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects

  6. SU-E-J-240: Development of a Novel 4D MRI Sequence for Real-Time Liver Tumor Tracking During Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Zhuang, L; Burmeister, J [Department of Oncology, Wayne State Univ School of Medicine, Detroit, MI (United States); Ye, Y [Department of Radiology, Wayne State Univ School of Medicine, Detroit, MI (United States)

    2015-06-15

    Purpose: To develop a Novel 4D MRI Technique that is feasible for realtime liver tumor tracking during radiotherapy. Methods: A volunteer underwent an abdominal 2D fast EPI coronal scan on a 3.0T MRI scanner (Siemens Inc., Germany). An optimal set of parameters was determined based on image quality and scan time. A total of 23 slices were scanned to cover the whole liver in the test scan. For each scan position, the 2D images were retrospectively sorted into multiple phases based on breathing signal extracted from the images. Consequently the 2D slices with same phase numbers were stacked to form one 3D image. Multiple phases of 3D images formed the 4D MRI sequence representing one breathing cycle. Results: The optimal set of scan parameters were: TR= 57ms, TE= 19ms, FOV read= 320mm and flip angle= 30°, which resulted in a total scan time of 14s for 200 frames (FMs) per slice and image resolution of (2.5mm,2.5mm,5.0mm) in three directions. Ten phases of 3D images were generated, each of which had 23 slices. Based on our test scan, only 100FMs were necessary for the phase sorting process which may lower the scan time to 7s/100FMs/slice. For example, only 5 slices/35s are necessary for a 4D MRI scan to cover liver tumor size ≤ 2cm leading to the possibility of tumor trajectory tracking every 35s during treatment. Conclusion: The novel 4D MRI technique we developed can reconstruct a 4D liver MRI sequence representing one breathing cycle (7s/ slice) without an external monitor. This technique can potentially be used for real-time liver tumor tracking during radiotherapy.

  7. SU-E-J-240: Development of a Novel 4D MRI Sequence for Real-Time Liver Tumor Tracking During Radiotherapy

    International Nuclear Information System (INIS)

    Purpose: To develop a Novel 4D MRI Technique that is feasible for realtime liver tumor tracking during radiotherapy. Methods: A volunteer underwent an abdominal 2D fast EPI coronal scan on a 3.0T MRI scanner (Siemens Inc., Germany). An optimal set of parameters was determined based on image quality and scan time. A total of 23 slices were scanned to cover the whole liver in the test scan. For each scan position, the 2D images were retrospectively sorted into multiple phases based on breathing signal extracted from the images. Consequently the 2D slices with same phase numbers were stacked to form one 3D image. Multiple phases of 3D images formed the 4D MRI sequence representing one breathing cycle. Results: The optimal set of scan parameters were: TR= 57ms, TE= 19ms, FOV read= 320mm and flip angle= 30°, which resulted in a total scan time of 14s for 200 frames (FMs) per slice and image resolution of (2.5mm,2.5mm,5.0mm) in three directions. Ten phases of 3D images were generated, each of which had 23 slices. Based on our test scan, only 100FMs were necessary for the phase sorting process which may lower the scan time to 7s/100FMs/slice. For example, only 5 slices/35s are necessary for a 4D MRI scan to cover liver tumor size ≤ 2cm leading to the possibility of tumor trajectory tracking every 35s during treatment. Conclusion: The novel 4D MRI technique we developed can reconstruct a 4D liver MRI sequence representing one breathing cycle (7s/ slice) without an external monitor. This technique can potentially be used for real-time liver tumor tracking during radiotherapy

  8. Real time tracking in liver SBRT: comparison of CyberKnife and Vero by planning structure-based γ-evaluation and dose-area-histograms.

    Science.gov (United States)

    Sothmann, T; Blanck, O; Poels, K; Werner, R; Gauer, T

    2016-02-21

    The purpose of this study was to evaluate and compare two clinical tracking systems for radiosurgery with regard to their dosimetric and geometrical accuracy in liver SBRT: the robot-based CyberKnife and the gimbal-based Vero. Both systems perform real-time tumour tracking by correlating internal tumour and external surrogate motion. CyberKnife treatment plans were delivered to a high resolution 2D detector array mounted on a 4D motion platform, with the platform simulating (a) tumour motion trajectories extracted from the corresponding CyberKnife predictor log files and (b) the tumour motion trajectories with superimposed baseline-drift. Static reference and tracked dose measurements were compared and dosimetric as well as geometrical uncertainties analyzed by a planning structure-based evaluation. For (a), γ-passing rates inside the CTV (γ-criteria of 1% / 1 mm) ranged from 95% to 100% (CyberKnife) and 98% to 100% (Vero). However, dosimetric accuracy decreases in the presence of the baseline-drift. γ-passing rates for (b) ranged from 26% to 92% and 94% to 99%, respectively; i.e. the effect was more pronounced for CyberKnife. In contrast, the Vero system led to maximum dose deviations in the OAR between  +1.5 Gy to +6.0 Gy (CyberKnife: +0.5 Gy to +3.5 Gy). Potential dose shifts were interpreted as motion-induced geometrical tracking errors. Maximum observed shift ranges were  -1.0 mm to  +0.7 mm (lateral) /-0.6 mm to +0.1 mm (superior-inferior) for CyberKnife and  -0.8 mm to +0.2 mm /-0.8 mm to +0.4 mm for Vero. These values illustrate that CyberKnife and Vero provide high precision tracking of regular breathing patterns. Even for the modified motion trajectory, the obtained dose distributions appear to be clinical acceptable with regard to literature QA γ-criteria of 3% / 3 mm. PMID:26836488

  9. 适用于复杂环境下的实时目标跟踪技术%Real-time Target Tracking Algorithm Under Complex Background

    Institute of Scientific and Technical Information of China (English)

    管小清; 吕志强

    2012-01-01

    In order to realize the stable, accurate and real-time target tracking, a novel target tracking algorithm combining scale梚nvariant features extraction and fast pattern matching is proposed. First, create Gaussian Pyramid for decomposing the target template and decomposing the current image under test, extract the scale-invariant features for both the target template and the current image under test, locate the target in the image based on the corresponding scale-invariant features, and update the template. Second, calculate the normalized cross correlation between the decomposed target template and the decomposed current image under test in the frequency domain; select the Region of Interest (ROD based on the maximum correlation value in the high resolution image for accurate target tracking. During the process, update the template in time to ensure the stable tracking when the target changes. Experimental results demonstrate that this proposed algorithm is superior to traditional target tracking algorithms.%针对复杂环境下目标跟踪过程中目标存在旋转、视角、尺度等变化以及噪声干扰的问题,提出了一种基于尺度不变特征与快速模板匹配相结合的目标跟踪技术;该技术通过分别提取预先存储模板和实时采集图像的尺度不变特征,建立初始模板;采用菱形搜索策略对模板的低分辨率子图和待跟踪图像的低分辨率子图进行快速互相关检测,根据检测结果在该帧高分辨率图像中建立紧凑ROI,在此区域内进行模板匹配,对目标进行精确定位;在目标跟踪的过程中采用自适应模板更新策略,以保证在目标发生变化时跟踪的稳定性;实验结果表明,该技术在稳定性、准确性和实时性等方面均优于传统方法.

  10. Real time tracking in liver SBRT: comparison of CyberKnife and Vero by planning structure-based γ-evaluation and dose-area-histograms

    Science.gov (United States)

    Sothmann, T.; Blanck, O.; Poels, K.; Werner, R.; Gauer, T.

    2016-02-01

    The purpose of this study was to evaluate and compare two clinical tracking systems for radiosurgery with regard to their dosimetric and geometrical accuracy in liver SBRT: the robot-based CyberKnife and the gimbal-based Vero. Both systems perform real-time tumour tracking by correlating internal tumour and external surrogate motion. CyberKnife treatment plans were delivered to a high resolution 2D detector array mounted on a 4D motion platform, with the platform simulating (a) tumour motion trajectories extracted from the corresponding CyberKnife predictor log files and (b) the tumour motion trajectories with superimposed baseline-drift. Static reference and tracked dose measurements were compared and dosimetric as well as geometrical uncertainties analyzed by a planning structure-based evaluation. For (a), γ-passing rates inside the CTV (γ-criteria of 1% / 1 mm) ranged from 95% to 100% (CyberKnife) and 98% to 100% (Vero). However, dosimetric accuracy decreases in the presence of the baseline-drift. γ-passing rates for (b) ranged from 26% to 92% and 94% to 99%, respectively; i.e. the effect was more pronounced for CyberKnife. In contrast, the Vero system led to maximum dose deviations in the OAR between  +1.5 Gy to  +6.0 Gy (CyberKnife:  +0.5 Gy to  +3.5 Gy). Potential dose shifts were interpreted as motion-induced geometrical tracking errors. Maximum observed shift ranges were  -1.0 mm to  +0.7 mm (lateral) /-0.6 mm to  +0.1 mm (superior-inferior) for CyberKnife and  -0.8 mm to  +0.2 mm /-0.8 mm to  +0.4 mm for Vero. These values illustrate that CyberKnife and Vero provide high precision tracking of regular breathing patterns. Even for the modified motion trajectory, the obtained dose distributions appear to be clinical acceptable with regard to literature QA γ-criteria of 3% / 3 mm.

  11. Hardware Approach for Real Time Machine Stereo Vision

    Directory of Open Access Journals (Sweden)

    Michael Tornow

    2006-02-01

    Full Text Available Image processing is an effective tool for the analysis of optical sensor information for driver assistance systems and controlling of autonomous robots. Algorithms for image processing are often very complex and costly in terms of computation. In robotics and driver assistance systems, real-time processing is necessary. Signal processing algorithms must often be drastically modified so they can be implemented in the hardware. This task is especially difficult for continuous real-time processing at high speeds. This article describes a hardware-software co-design for a multi-object position sensor based on a stereophotogrammetric measuring method. In order to cover a large measuring area, an optimized algorithm based on an image pyramid is implemented in an FPGA as a parallel hardware solution for depth map calculation. Object recognition and tracking are then executed in real-time in a processor with help of software. For this task a statistical cluster method is used. Stabilization of the tracking is realized through use of a Kalman filter. Keywords: stereophotogrammetry, hardware-software co-design, FPGA, 3-d image analysis, real-time, clustering and tracking.

  12. SU-D-BRE-02: Development and Commissioning of A Gated Spot Scanning Proton Beam Therapy System with Real-Time Tumor-Tracking

    International Nuclear Information System (INIS)

    Purpose: A novel Proton Beam Therapy system has been developed by integrating Real-Time Tumor-Tracking (RTRT) and discrete spot scanning techniques. The system dedicated for spot scanning delivers significant advantages for both clinical and economical points of view. The system has the ability to control dose distribution with spot scanning beams and to gate the beams from the synchrotron to irradiate moving tumors only when the actual positions of them are within the planned position. Methods: The newly designed system consists of a synchrotron, beam transport systems, a compact and rotating gantry system with robotic couch and two orthogonal sets of X-ray fluoroscopes. The fully compact design of the system has been realized by reducing the maximum energy of the beam to 220MeV, corresponding to 30g/cm2 range and the number of circulating protons per synchrotron operation cycle, due to higher beam utilization efficiency in spot scanning. To improve the irradiation efficiency in the integration of RTRT and spot scanning, a new control system has been developed to enable multiple gated irradiation per operation cycle according to the gating signals. After the completion of the equipment installation, beam tests and commissioning has been successfully performed. Results: The basic performances and beam characteristics through the synchrotron accelerator to iso-center have been confirmed and the performance test of the irradiation nozzle and whole system has been appropriately completed. CBCT image has been checked and sufficient quality was obtained. RTRT system has been demonstrated and realized accurate dose distributions for moving targets. Conclusion: The gated spot scanning Proton Beam Therapy system with Real-Time Tumor-Tracking has been developed, successfully installed and tested. The new system enables us to deliver higher dose to the moving target tumors while sparing surrounding normal tissues and to realize the compact design of the system and facility

  13. SU-D-BRE-02: Development and Commissioning of A Gated Spot Scanning Proton Beam Therapy System with Real-Time Tumor-Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Umegaki, K; Matsuura, T.; Takao, S.; Nihongi, H.; Yamada, T.; Miyamoto, N.; Shimizu, S.; Shirato, H. [Hokkaido University, Sapporo, Hokkaido (Japan); Matsuda, K.; Nakamura, F.; Umezawa, M.; Hiramoto, K. [Hitachi, Ltd., Chiyoda-ku, Tokyo (Japan)

    2014-06-01

    Purpose: A novel Proton Beam Therapy system has been developed by integrating Real-Time Tumor-Tracking (RTRT) and discrete spot scanning techniques. The system dedicated for spot scanning delivers significant advantages for both clinical and economical points of view. The system has the ability to control dose distribution with spot scanning beams and to gate the beams from the synchrotron to irradiate moving tumors only when the actual positions of them are within the planned position. Methods: The newly designed system consists of a synchrotron, beam transport systems, a compact and rotating gantry system with robotic couch and two orthogonal sets of X-ray fluoroscopes. The fully compact design of the system has been realized by reducing the maximum energy of the beam to 220MeV, corresponding to 30g/cm2 range and the number of circulating protons per synchrotron operation cycle, due to higher beam utilization efficiency in spot scanning. To improve the irradiation efficiency in the integration of RTRT and spot scanning, a new control system has been developed to enable multiple gated irradiation per operation cycle according to the gating signals. After the completion of the equipment installation, beam tests and commissioning has been successfully performed. Results: The basic performances and beam characteristics through the synchrotron accelerator to iso-center have been confirmed and the performance test of the irradiation nozzle and whole system has been appropriately completed. CBCT image has been checked and sufficient quality was obtained. RTRT system has been demonstrated and realized accurate dose distributions for moving targets. Conclusion: The gated spot scanning Proton Beam Therapy system with Real-Time Tumor-Tracking has been developed, successfully installed and tested. The new system enables us to deliver higher dose to the moving target tumors while sparing surrounding normal tissues and to realize the compact design of the system and facility

  14. Map-based Autonomous Personal Localization and Tracking

    OpenAIRE

    Spassov, Ivan; Bierlaire, Michel; Merminod, Bertrand

    2007-01-01

    An autonomous localisation and tracking method is a method independent from the reception of external data. In our approach we ignore methods like GPS- and WiFi- positioning and we focus on the use of inertial navigation system (INS) carried by the person and connected to a map database. The walking person is considered as a dynamic system, whose movements are measured by the INS. His trajectory is modified with respect to a dedicated motion model. Users location is estimated in the frame of ...

  15. Stabilization and trajectory tracking of autonomous airship's planar motion

    Institute of Scientific and Technical Information of China (English)

    Zhang Yan; Qu Weidong; Xi Yugeng; Cai Zili

    2008-01-01

    The stabilization and trajectory tracking problems of autonomous airship's planar motion are studied.By denning novel configuration error and velocity error,the dynamics of error systems are derived.By applying Lyapunov stability method,the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem.In particular,the controller does not need knowledge on system parameters in the case of set-point stabilization,which makes the controller robust with respect to parameter uncertainty.Numerical simulations illustrate the effectiveness of the controller designed.

  16. The use of virtual reality and intelligent database systems for procedure planning, visualisation, and real-time component tracking in remote handling operations

    International Nuclear Information System (INIS)

    The organisation of remote handling (RH) operations in fusion environments is increasingly critical as the number of tasks, components and tooling that RH operations teams must deal with inexorably rises. During the recent JET EP1 RH shutdown the existing virtual reality (VR) and procedural database systems proved essential for visualisation and tracking of operations, particularly due to the increasing complexity of remote tasks. A new task planning system for RH operations is in development, and is expected to be ready for use during the next major shutdown, planned for 2009. The system will make use of information available from the remote operations procedures, the RH equipment human-machine interfaces, the on-line RH equipment control systems and also the virtual reality (VR) system to establish a complete database for the location of plant items and RH equipment as RH operations progress. It is intended that the system be used during both preparation and implementation of shutdowns. In the preparations phase the system can be used to validate procedures and overall logistics by allowing an operator to increment through each operation step and to use the VR system to visualise the location and status of all components, manipulators and RH tools. During task development the RH operations engineers can plan and visualise movement of components and tooling to examine handling concepts and establish storage requirements. In the implementation of operations the daily work schedules information will be integrated with the RH operations procedures tracking records to enable the VR system to provide a visual representation of the status of remote operations in real time. Monitoring of the usage history of items will allow estimates of radiation dosage and contaminant exposure to be made. This paper describes the overall aims, structure and use of the system, discusses its application to JET and also considers potential future developments.

  17. 基于改进Otsu的室外道路实时检测与跟踪算法%Real-time Detection and Tracking of Road Information for Outdoor Vision-based Robot Based on Improved Otsu

    Institute of Scientific and Technical Information of China (English)

    陆培源; 王建中; 罗涛

    2011-01-01

    The detection and tracking of road infornmtion, are the basis and prerequisite of environmental exploration anti autonomous navigation ],y mobile robot. In view of the complexity of the ouldoor working environment of the robot and the variety of the outdoor illumination conditions, a suitable and novel way of real-time detection and tracking for outdoor robot is presented. First, the video images obtained from CCD camera are preprocessed. Then the Region of Interest (ROI) is extracted and transformed into the HSV color space. The edge information of the road image is obtained from the ROI by using the improved Otsu algorithm. With the anti-jamming ability of the Hough transform, the regiom where robot can pass through is shown. Finally the weighted Mahalanobis distance discrimination method is used to track the passing area. Experiment results show that this algorithm enjoys a good performance in the detection and tracking of road information in outdoor environment in real-lime.%室外道路检测与跟踪是移动机器人完成室外环境探索和自主导航的基础和前提.针对室外机器人工作环境复杂、光照多变等特点,提出了一种适用于室外道路实时检测与跟踪的算法.首先将CCD摄像头获得的画面通过预处理,提取视频画面的感兴趣区域(ROI)并转化为HSV颜色空间下的图像,然后通过改进的自适应阈值分割法(Otsu)获得道路图像的边缘信息,采用抗干扰能力较强的霍夫(Hough)变换得出画面中的可通行区域,最后采用加权马氏距离判别法跟踪可通行区域.实验表明,该算法在室外环境下具有较好的道路识别跟踪能力和实时性.

  18. Localization and Tracking of Submerged Phytoplankton Bloom Patches by an Autonomous Underwater Vehicle

    Science.gov (United States)

    Godin, M. A.; Ryan, J. P.; Zhang, Y.; Bellingham, J. G.

    2012-12-01

    Observing plankton in their drifting frame of reference permits effective studies of marine ecology from the perspective of microscopic life itself. By minimizing variation caused simply by advection, observations in a plankton-tracking frame of reference focus measurement capabilities on the processes that influence the life history of populations. Further, the patchy nature of plankton populations motivates use of sensor data in real-time to resolve patch boundaries and adapt observing resources accordingly. We have developed capabilities for population-centric plankton observation and sampling by autonomous underwater vehicles (AUVs). Our focus has been on phytoplankton populations, both because of their ecological significance - as the core of the oceanic food web and yet potentially harmful under certain bloom conditions, as well as the accessibility of their signal to simple optical sensing. During the first field deployment of these capabilities in 2010, we tracked a phytoplankton patch containing toxigenic diatoms and found that their toxicity correlated with exposure to resuspended sediments. However, this first deployment was labor intensive as the AUV drove in a pre-programmed pattern centered around a patch-marking drifter; it required a boat deployment of the patch-marking drifter and required full-time operators to periodically estimate of the position of the patch with respect to the drifter and adjust the AUV path accordingly. In subsequent field experiments during 2011 and 2012, the Tethys-class long-range AUVs ran fully autonomous patch tracking algorithms which detected phytoplankton patches and continually updated estimates of each patch center by driving adaptive patterns through the patch. Iterations of the algorithm were generated to overcome the challenges of tracking advecting and evolving patches while minimizing human involvement in vehicle control. Such fully autonomous monitoring will be necessary to perform long-term in

  19. Real Time Systems

    DEFF Research Database (Denmark)

    Christensen, Knud Smed

    2000-01-01

    Describes fundamentals of parallel programming and a kernel for that. Describes methods for modelling and checking parallel problems. Real time problems.......Describes fundamentals of parallel programming and a kernel for that. Describes methods for modelling and checking parallel problems. Real time problems....

  20. Stereotactic body radiotherapy using gated radiotherapy with real-time tumor-tracking for stage I non-small cell lung cancer

    International Nuclear Information System (INIS)

    To clarify the clinical outcomes of two dose schedule of stereotactic body radiotherapy (SBRT) for stage I non-small cell lung cancer (NSCLC) using a real-time tumor-tracking radiation therapy (RTRT) system in single institution. Using a superposition algorithm, we administered 48 Gy in 4 fractions at the isocenter in 2005–2006 and 40 Gy in 4 fractions to the 95% volume of PTV in 2007–2010 with a treatment period of 4 to 7 days. Target volume margins were fixed irrespective of the tumor amplitude. In total, 109 patients (79 T1N0M0 and 30 T2N0M0). With a median follow-up period of 25 months (range, 4 to 72 months), the 5-year local control rate (LC) was 78% and the 5-year overall survival rate (OS) was 64%. Grade 2, 3, 4, and 5 radiation pneumonitis (RP) was experienced by 15 (13.8%), 3 (2.8%), 0, and 0 patients, respectively. The mean lung dose (MLD) and the volume of lung receiving 20 Gy (V20) were significantly higher in patients with RP Grade 2/3 than in those with RP Grade 0/1 (MLD p = 0.002, V20 p = 0.003). There was no correlation between larger maximum amplitude of marker movement and larger PTV (r = 0.137), MLD (r = 0.046), or V20 (r = 0.158). SBRT using the RTRT system achieved LC and OS comparable to other SBRT studies with very low incidence of RP, which was consistent with the small MLD and V20 irrespective of tumor amplitude. For stage I NSCLC, SBRT using RTRT was suggested to be reliable and effective, especially for patients with large amplitude of tumor movement

  1. Real-time tracking of CO₂ injected into a subsurface coal fire through high-frequency measurements of the ¹³CO₂ signature.

    Science.gov (United States)

    Krevor, Samuel C M; Ide, Taku; Benson, Sally M; Orr, Franklin M

    2011-05-01

    CO₂ was injected into a coal fire burning at a depth of 15 m in the subsurface in southwestern Colorado, USA. Measurements were made of the ¹³CO₂ isotopic signature of gas exhaust from an observation well and two surface fissures. The goal of the test was to determine (1) whether CO₂ with a distinct isotopic signature could be used as a tracer to identify flow pathways and travel times in a combustion setting where CO₂ was present in significant quantities in the gases being emitted from the coalbed fire, and (2) to confirm the existence of a self-propagating system of air-intake and combustion gas exhaust that has been previously proposed. CO₂ was injected in three separate periods. The ¹³CO₂ isotopic signature was measured at high frequency (0.5 Hz) before, during, and after the injection periods for gas flowing from fissures over the fire and from gas entering an observation well drilled into the formation just above the fire but near the combustion zone. In two cases, a shift in the isotopic signature of outgassing CO₂ provided clear evidence that injected CO₂ had traveled from the injection well to the observation point, while in a third case, no response was seen and the fissure could not be assumed to have a flowpath connected with the injection well. High-frequency measurements of the ¹³CO₂ signature of gas in observation wells is identified as a viable technique for tracking CO₂ injected into subsurface formations in real-time. In addition, a chimney-like coupled air-intake and exhaust outlet system feeding the combustion of the coal seam was confirmed. This can be used to further develop strategies for extinguishing the fire. PMID:21466184

  2. Real-time shadows

    CERN Document Server

    Eisemann, Elmar; Assarsson, Ulf; Wimmer, Michael

    2011-01-01

    Important elements of games, movies, and other computer-generated content, shadows are crucial for enhancing realism and providing important visual cues. In recent years, there have been notable improvements in visual quality and speed, making high-quality realistic real-time shadows a reachable goal. Real-Time Shadows is a comprehensive guide to the theory and practice of real-time shadow techniques. It covers a large variety of different effects, including hard, soft, volumetric, and semi-transparent shadows.The book explains the basics as well as many advanced aspects related to the domain

  3. Autonomous Aerial Refueling Ground Test Demonstration—A Sensor-in-the-Loop, Non-Tracking Method

    Science.gov (United States)

    Chen, Chao-I; Koseluk, Robert; Buchanan, Chase; Duerner, Andrew; Jeppesen, Brian; Laux, Hunter

    2015-01-01

    An essential capability for an unmanned aerial vehicle (UAV) to extend its airborne duration without increasing the size of the aircraft is called the autonomous aerial refueling (AAR). This paper proposes a sensor-in-the-loop, non-tracking method for probe-and-drogue style autonomous aerial refueling tasks by combining sensitivity adjustments of a 3D Flash LIDAR camera with computer vision based image-processing techniques. The method overcomes the inherit ambiguity issues when reconstructing 3D information from traditional 2D images by taking advantage of ready to use 3D point cloud data from the camera, followed by well-established computer vision techniques. These techniques include curve fitting algorithms and outlier removal with the random sample consensus (RANSAC) algorithm to reliably estimate the drogue center in 3D space, as well as to establish the relative position between the probe and the drogue. To demonstrate the feasibility of the proposed method on a real system, a ground navigation robot was designed and fabricated. Results presented in the paper show that using images acquired from a 3D Flash LIDAR camera as real time visual feedback, the ground robot is able to track a moving simulated drogue and continuously narrow the gap between the robot and the target autonomously. PMID:25970254

  4. Autonomous Aerial Refueling Ground Test Demonstration--A Sensor-in-the-Loop, Non-Tracking Method.

    Science.gov (United States)

    Chen, Chao-I; Koseluk, Robert; Buchanan, Chase; Duerner, Andrew; Jeppesen, Brian; Laux, Hunter

    2015-01-01

    An essential capability for an unmanned aerial vehicle (UAV) to extend its airborne duration without increasing the size of the aircraft is called the autonomous aerial refueling (AAR). This paper proposes a sensor-in-the-loop, non-tracking method for probe-and-drogue style autonomous aerial refueling tasks by combining sensitivity adjustments of a 3D Flash LIDAR camera with computer vision based image-processing techniques. The method overcomes the inherit ambiguity issues when reconstructing 3D information from traditional 2D images by taking advantage of ready to use 3D point cloud data from the camera, followed by well-established computer vision techniques. These techniques include curve fitting algorithms and outlier removal with the random sample consensus (RANSAC) algorithm to reliably estimate the drogue center in 3D space, as well as to establish the relative position between the probe and the drogue. To demonstrate the feasibility of the proposed method on a real system, a ground navigation robot was designed and fabricated. Results presented in the paper show that using images acquired from a 3D Flash LIDAR camera as real time visual feedback, the ground robot is able to track a moving simulated drogue and continuously narrow the gap between the robot and the target autonomously. PMID:25970254

  5. Autonomous Aerial Refueling Ground Test Demonstration—A Sensor-in-the-Loop, Non-Tracking Method

    Directory of Open Access Journals (Sweden)

    Chao-I Chen

    2015-05-01

    Full Text Available An essential capability for an unmanned aerial vehicle (UAV to extend its airborne duration without increasing the size of the aircraft is called the autonomous aerial refueling (AAR. This paper proposes a sensor-in-the-loop, non-tracking method for probe-and-drogue style autonomous aerial refueling tasks by combining sensitivity adjustments of a 3D Flash LIDAR camera with computer vision based image-processing techniques. The method overcomes the inherit ambiguity issues when reconstructing 3D information from traditional 2D images by taking advantage of ready to use 3D point cloud data from the camera, followed by well-established computer vision techniques. These techniques include curve fitting algorithms and outlier removal with the random sample consensus (RANSAC algorithm to reliably estimate the drogue center in 3D space, as well as to establish the relative position between the probe and the drogue. To demonstrate the feasibility of the proposed method on a real system, a ground navigation robot was designed and fabricated. Results presented in the paper show that using images acquired from a 3D Flash LIDAR camera as real time visual feedback, the ground robot is able to track a moving simulated drogue and continuously narrow the gap between the robot and the target autonomously.

  6. Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Saeed Nakhkoob

    2014-01-01

    Full Text Available In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

  7. NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP

    Institute of Scientific and Technical Information of China (English)

    ZHOU Bo; HAN Jianda

    2007-01-01

    In order to achieve precise, robust autonomous guidance and control of a tracked vehicle, a kinematic model with longitudinal and lateral slip is established. Four different nonlinear filters are used to estimate both state vector and time-varying parameter vector of the created model jointly. The first filter is the well-known extended Kalman filter. The second filter is an unscented version of the Kalman filter. The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution. The last one is a novel and guaranteed filter that uses a linear set-membership estimator and can give an ellipsoid set in which the true state lies. The four different approaches have different complexities, behavior and advantages that are surveyed and compared.

  8. PRIMUS: autonomous navigation in open terrain with a tracked vehicle

    Science.gov (United States)

    Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

    2004-09-01

    The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

  9. Modelling the world in real time: how robots engineer information.

    Science.gov (United States)

    Davison, Andrew J

    2003-12-15

    Programming robots and other autonomous systems to interact with the world in real time is bringing into sharp focus general questions about representation, inference and understanding. These artificial agents use digital computation to interpret the data gleaned from sensors and produce decisions and actions to guide their future behaviour. In a physical system, however, finite computational resources unavoidably impose the need to approximate and make selective use of the information available to reach prompt deductions. Recent research has led to widespread adoption of the methodology of Bayesian inference, which provides the absolute framework to understand this process fully via modelling as informed, fully acknowledged approximation. The performance of modern systems has improved greatly on the heuristic methods of the early days of artificial intelligence. We discuss the general problem of real-time inference and computation, and draw on examples from recent research in computer vision and robotics: specifically visual tracking and simultaneous localization and mapping. PMID:14667303

  10. SU-E-J-182: Reproducibility of Tumor Motion Probability Distribution Function in Stereotactic Body Radiation Therapy of Lung Using Real-Time Tumor-Tracking Radiotherapy System

    International Nuclear Information System (INIS)

    Purpose: We aim to achieve new four-dimensional radiotherapy (4DRT) using the next generation real-time tumor-tracking (RTRT) system and flattening-filter-free techniques. To achieve new 4DRT, it is necessary to understand the respiratory motion of tumor. The purposes of this study were: 1.To develop the respiratory motion analysis tool using log files. 2.To evaluate the reproducibility of tumor motion probability distribution function (PDF) during stereotactic body RT (SBRT) of lung tumor. Methods: Seven patients having fiducial markers closely implanted to the lung tumor were enrolled in this study. The positions of fiducial markers were measured using the RTRT system (Mitsubishi Electronics Co., JP) and recorded as two types of log files during the course of SBRT. For each patients, tumor motion range and tumor motion PDFs in left-right (LR), anterior-posterior (AP) and superior-inferior (SI) directions were calculated using log files of all beams per fraction (PDFn). Fractional PDF reproducibility (Rn) was calculated as Kullback-Leibler (KL) divergence between PDF1 and PDFn of tumor motion. The mean of Rn (Rm) was calculated for each patient and correlated to the patient’s mean tumor motion range (Am). The change of Rm during the course of SBRT was also evluated. These analyses were performed using in-house developed software. Results: The Rm were 0.19 (0.07–0.30), 0.14 (0.07–0.32) and 0.16 (0.09–0.28) in LR, AP and SI directions, respectively. The Am were 5.11 mm (2.58–9.99 mm), 7.81 mm (2.87–15.57 mm) and 11.26 mm (3.80–21.27 mm) in LR, AP and SI directions, respectively. The PDF reproducibility decreased as the tumor motion range increased in AP and SI direction. That decreased slightly through the course of RT in SI direction. Conclusion: We developed the respiratory motion analysis tool for 4DRT using log files and quantified the range and reproducibility of respiratory motion for lung tumors

  11. Square tracking sensor for autonomous helicopter hover stabilization

    Science.gov (United States)

    Oertel, Carl-Henrik

    1995-06-01

    Sensors for synthetic vision are needed to extend the mission profiles of helicopters. A special task for various applications is the autonomous position hold of a helicopter above a ground fixed or moving target. As a proof of concept for a general synthetic vision solution a restricted machine vision system, which is capable of locating and tracking a special target, was developed by the Institute of Flight Mechanics of Deutsche Forschungsanstalt fur Luft- und Raumfahrt e.V. (i.e., German Aerospace Research Establishment). This sensor, which is specialized to detect and track a square, was integrated in the fly-by-wire helicopter ATTHeS (i.e., Advanced Technology Testing Helicopter System). An existing model following controller for the forward flight condition was adapted for the hover and low speed requirements of the flight vehicle. The special target, a black square with a length of one meter, was mounted on top of a car. Flight tests demonstrated the automatic stabilization of the helicopter above the moving car by synthetic vision.

  12. Design and Implementation of Real-time Algorithms for Eye Tracking and PERCLOS Measurement for on board Estimation of Alertness of Drivers

    OpenAIRE

    George, Anjith; Routray, Aurobinda

    2015-01-01

    The alertness level of drivers can be estimated with the use of computer vision based methods. The level of fatigue can be found from the value of PERCLOS. It is the ratio of closed eye frames to the total frames processed. The main objective of the thesis is the design and implementation of real-time algorithms for measurement of PERCLOS. In this work we have developed a real-time system which is able to process the video onboard and to alarm the driver in case the driver is in alert. For ac...

  13. Real-time radiography

    International Nuclear Information System (INIS)

    Real-time radiography is used for imaging both dynamic events and static objects. Fluorescent screens play an important role in converting radiation to light, which is then observed directly or intensified and detected. The radiographic parameters for real-time radiography are similar to conventional film radiography with special emphasis on statistics and magnification. Direct-viewing fluoroscopy uses the human eye as a detector of fluorescent screen light or the light from an intensifier. Remote-viewing systems replace the human observer with a television camera. The remote-viewing systems have many advantages over the direct-viewing conditions such as safety, image enhancement, and the capability to produce permanent records. This report reviews real-time imaging system parameters and components

  14. Real-Time Shading

    CERN Document Server

    Olano, Marc

    2002-01-01

    This book covers real-time shading systems, their design and how they work. Procedural shading, long valued for off-line rendering and production animation is now possible on interactive graphics hardware. These developments are important for areas such as game development, product design, and scientific visualization, among others. The authors include examples of techniques for achieving common effects efficiently in a real-time shading language ranging from full procedural shading on advanced specialized hardware to limited, yet surprisingly flexible shading on unextended OpenGL, to modern P

  15. Real-time RGBD SLAM system

    Science.gov (United States)

    Czupryński, BłaŻej; Strupczewski, Adam

    2015-09-01

    A real-time tracking and mapping SLAM system is presented. The developed system uses input from an RGBD sensor and tracks the camera pose from frame to frame. The tracking is based on matched feature points and is performed with respect to selected keyframes. The system is robust and scalable, as an arbitrary number of keyframes can be chosen for visualization and tracking depending on the desired accuracy and speed. The presented system is also a good platform for further research.

  16. Calculation of rotational setup error using the real-time tracking radiation therapy (RTRT) system and its application to the treatment of spinal schwannoma

    International Nuclear Information System (INIS)

    Purpose: The efficacy of a prototypic fluoroscopic real-time tracking radiation therapy (RTRT) system using three gold markers (2 mm in diameter) for estimating translational error, rotational setup error, and the dose to normal structures was tested in 5 patients with spinal schwannoma and a phantom. Methods and Materials: Translational error was calculated by comparing the actual position of the marker closest to the tumor to its planned position, and the rotational setup error was calculated using the three markers around the target. Theoretically, the actual coordinates can be adjusted to the planning coordinates by sequential rotation of γ degrees around the z axis, β degrees around the y axis, and α degrees around the x axis, in this order. We measured the accuracy of the rotational calculation using a phantom. Five patients with spinal schwannoma located at a minimum of 1-5 mm from the spinal cord were treated with RTRT. Three markers were inserted percutaneously into the paravertebral deep muscle in 3 patients and surgically into two consecutive vertebral bones in two other patients. Results: In the phantom study, the discrepancies between the actual and calculated rotational error were -0.1 ± 0.5 deg. The random error of rotation was 5.9, 4.6, and 3.1 deg. for α, β, and γ, respectively. The systematic error was 7.1, 6.6, and 3.0 deg. for α, β, and γ, respectively. The mean rotational setup error (0.2±2.2, -1.3±2.9, and -1.3±1.7 deg. for α, β, and γ, respectively) in 2 patients for whom surgical marker implantation was used was significantly smaller than that in 3 patients for whom percutaneous insertion was used (6.0±8.2, 2.7±5.9, and -2.1±4.6 deg. for α, β, and γ). Random translational setup error was significantly reduced by the RTRT setup (p<0.0001). Systematic setup error was significantly reduced by the RTRT setup only in patients who received surgical implantation of the marker (p<0.0001). The maximum dose to the spinal cord was

  17. AN ALGORITHM FOR THE REAL-TIME, BLIND DETECTION, DECOMPOSITION AND TRACKING OF THE INDIVIDUAL COMPONENTS IN A DEGENERATE, MULTI-HARMONICS SPECTRUM

    OpenAIRE

    Testa, D; Carfantan, H.; Goodyear, A.; Panis, T.; Blanchard, P.; Fasoli, A; Klein, A.; Contributors, JET-EFDA

    2010-01-01

    In this work we report the successful application of an innovative method, based on the Sparse Representation of signals, to perform a real-time, unsupervised detection of the individual components in a frequency degenerate, multi-harmonic spectrum, using a small number of data un-evenly sampled in the spatial domain. This method has been developed from its original applications in astronomy, and is now routinely used in the JET thermonuclear fusion experiment to obtain the decomposition of a...

  18. Tracking Object Existence From an Autonomous Patrol Vehicle

    Science.gov (United States)

    Wolf, Michael; Scharenbroich, Lucas

    2011-01-01

    An autonomous vehicle patrols a large region, during which an algorithm receives measurements of detected potential objects within its sensor range. The goal of the algorithm is to track all objects in the region over time. This problem differs from traditional multi-target tracking scenarios because the region of interest is much larger than the sensor range and relies on the movement of the sensor through this region for coverage. The goal is to know whether anything has changed between visits to the same location. In particular, two kinds of alert conditions must be detected: (1) a previously detected object has disappeared and (2) a new object has appeared in a location already checked. For the time an object is within sensor range, the object can be assumed to remain stationary, changing position only between visits. The problem is difficult because the upstream object detection processing is likely to make many errors, resulting in heavy clutter (false positives) and missed detections (false negatives), and because only noisy, bearings-only measurements are available. This work has three main goals: (1) Associate incoming measurements with known objects or mark them as new objects or false positives, as appropriate. For this, a multiple hypothesis tracker was adapted to this scenario. (2) Localize the objects using multiple bearings-only measurements to provide estimates of global position (e.g., latitude and longitude). A nonlinear Kalman filter extension provides these 2D position estimates using the 1D measurements. (3) Calculate the probability that a suspected object truly exists (in the estimated position), and determine whether alert conditions have been triggered (for new objects or disappeared objects). The concept of a probability of existence was created, and a new Bayesian method for updating this probability at each time step was developed. A probabilistic multiple hypothesis approach is chosen because of its superiority in handling the

  19. Route around real time

    International Nuclear Information System (INIS)

    The greater and greater autonomy and complexity asked to the control and command systems lead to work on introducing techniques such as Artificial Intelligence or concurrent object programming in industrial applications. However, while the critical feature of these systems impose to control the dynamics of the proposed solutions, their complexity often imposes a high adaptability to a partially modelled environment. The studies presented start from low level control and command systems to more complex applications at higher levels, such as 'supervision systems'. Techniques such as temporal reasoning and uncertainty management are proposed for the first studies, while the second are tackled with programming techniques based on the real time object paradigm. The outcomes of this itinerary crystallize on the ACCORD project which targets to manage - on the whole life cycle of a real time application - these two problematics, sometimes antagonistic: control of the dynamics and adaptivity. (author)

  20. Real Time Processing

    CERN Document Server

    CERN. Geneva; ANDERSON, Dustin James; DOGLIONI, Caterina

    2015-01-01

    The LHC provides experiments with an unprecedented amount of data. Experimental collaborations need to meet storage and computing requirements for the analysis of this data: this is often a limiting factor in the physics program that would be achievable if the whole dataset could be analysed. In this talk, I will describe the strategies adopted by the LHCb, CMS and ATLAS collaborations to overcome these limitations and make the most of LHC data: data parking, data scouting, and real-time analysis.

  1. Real-Time PCR

    Science.gov (United States)

    Evrard, A.; Boulle, N.; Lutfalla, G. S.

    Over the past few years there has been a considerable development of DNA amplification by polymerase chain reaction (PCR), and real-time PCR has now superseded conventional PCR techniques in many areas, e.g., the quantification of nucleic acids and genotyping. This new approach is based on the detection and quantification of a fluorescent signal proportional to the amount of amplicons generated by PCR. Real-time detection is achieved by coupling a thermocycler with a fluorimeter. This chapter discusses the general principles of quantitative real-time PCR, the different steps involved in implementing the technique, and some examples of applications in medicine. The polymerase chain reaction (PCR) provides a way of obtaining a large number of copies of a double-stranded DNA fragment of known sequence. This DNA amplification technique, developed in 1985 by K. Mullis (Cetus Corporation), saw a spectacular development over the space of a few years, revolutionising the methods used up to then in molecular biology. Indeed, PCR has many applications, such as the detection of small amounts of DNA, cloning, and quantitative analysis (assaying), each of which will be discussed further below.

  2. Path tracking in forest terrain by an autonomous forwarder

    OpenAIRE

    Ringdahl, Ola; Lindroos, Ola; Hellström, Thomas; Bergström, Dan; Athanassiadis, Dimitris; Nordfjell, Tomas

    2011-01-01

    Autonomous navigation in forest terrain, where operation paths are rarely straight or flat and obstacles are common, is challenging. This paper evaluates a system designed to autonomously follow previously demonstrated paths in a forest environment without loading/unloading timber, a pre-step in the development of fully autonomous forwarders. The system consisted of a forwarder equipped with a high-precision global positioning system to measure the vehicle’s heading and position. A gyro was u...

  3. Creating Real-Time Embodied Autonomous Agents

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    @@ A challenging research area for computer graphics and virtual environments (VE) is training interpersonal interactions. In such a system, at least one person is the VE participant, while several more virtual human agents (represented by human-like, embodied models) are engaged in activities in the same virtual space. The participants, whether live or virtual, should interact as if all were real. This means that the virtual agents must have several characteristics afforded to real people, including the following:

  4. Real- Time Simulation Applications

    Directory of Open Access Journals (Sweden)

    V. Srinivas

    1987-10-01

    Full Text Available This paper deals with development of the real-time simulation systems. Two systems, one for supporting the research and development programmes of the aircraft industry and the other to provide pilot training of modem aircraft are described. The presentation brings out the effectiveness of such systems in their respective roles and the techniques developed in the design and realisation of hardware and software.This also gives a overview of various activities which have culminated in the establishment of research simulation facility and training simulators. Also plans of actions and techniques proposed to be employed in terms of future programmes are discussed.

  5. Measure of the accuracy of navigational sensors for autonomous path tracking

    Science.gov (United States)

    Motazed, Ben

    1994-02-01

    Outdoor mobile robot path tracking for an extended period of time and distance is a formidable task. The difficulty lies in the ability of robot navigation systems to reliably and accurately report on the position and orientation of the vehicle. This paper addresses the accurate navigation of mobile robots in the context of non-line of sight autonomous convoying. Dead-reckoning, GPS and vision based autonomous road following navigational schemes are integrated through a Kalman filter formulation to derive mobile robot position and orientation. The accuracy of these navigational schemes and their sufficiency to achieve autonomous path tracking for long duration are examined.

  6. Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

    CERN Document Server

    González, Ramón; Guzmán, José Luis

    2014-01-01

    This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

  7. Real time production optimization

    Energy Technology Data Exchange (ETDEWEB)

    Saputelli, Luigi; Otavio, Joao; Araujo, Turiassu; Escorcia, Alvaro [Halliburton, Houston, TX (United States). Landmark Division

    2004-07-01

    Production optimization encompasses various activities of measuring, analyzing, modeling, prioritizing and implementing actions to enhance productivity of a field. We present a state-of-the-art framework for optimizing production on a continuous basis as new sensor data is acquired in real time. Permanently acquired data is modeled and analyzed in order to create predictive models. A model based control strategy is used to regulate well and field instrumentation. The optimum field operating point, which changes with time, satisfies the maximum economic return. This work is a starting point for further development in automatic, intelligent reservoir technologies which get the most out of the abilities of permanent, instrumented wells and remotely activated downhole completions. The strategy, tested with history-matched data from a compartmentalised giant field, proved to reduce operating costs while increasing oil recovery by 27% in this field. (author)

  8. Real Time Information Fusion in Military Systems

    Directory of Open Access Journals (Sweden)

    E. Bhagiratharao

    1990-01-01

    Full Text Available With the proliferation of sensors on platforms like battle ships and aircraft, the information to be handled by the battlefield commanders has significantly increased in the recent time. From a deluge of information flowing from sensors, the battlefield commander is required to make situation assessment in real-time and take appropriate action. Recent studies by cognitive scientists have indicated that decision making by individuals as well as a team suffer from several biases. For these two reasons, the battlefield commanders need assistance of real-time information fusion systems to take objective assessment of highly dynamic battle situation in real-time information fusion systems to take objective assessment of a highly dynamic battle situation in real-time. The real-time information fusion systems at a single platform level as well as that applicable for geographically distributed platforms is discussed in detail in this paper. It was concluded that by carrying out these activities at the platform level as well as at 'global' level involving several platforms, the limitations in performance of any sensor due to propagation effects or due to enemy counter measures can be significantly minimised or totally eliminated. At the same time the functional effectiveness of each sensor onboard different platforms, becomes better than when it had to operate autonomously within the real-time information fusion facility. By carrying out global real-time information fusion activity in a theatre of war, all the platforms operating in the area will have the benefit of the best sensor in that area on each aspect of the capability. A few examples of real-time information fusion system are also discussed.

  9. A quantitative method to track protein translocation between intracellular compartments in real-time in live cells using weighted local variance image analysis.

    Directory of Open Access Journals (Sweden)

    Guillaume Calmettes

    Full Text Available The genetic expression of cloned fluorescent proteins coupled to time-lapse fluorescence microscopy has opened the door to the direct visualization of a wide range of molecular interactions in living cells. In particular, the dynamic translocation of proteins can now be explored in real time at the single-cell level. Here we propose a reliable, easy-to-implement, quantitative image processing method to assess protein translocation in living cells based on the computation of spatial variance maps of time-lapse images. The method is first illustrated and validated on simulated images of a fluorescently-labeled protein translocating from mitochondria to cytoplasm, and then applied to experimental data obtained with fluorescently-labeled hexokinase 2 in different cell types imaged by regular or confocal microscopy. The method was found to be robust with respect to cell morphology changes and mitochondrial dynamics (fusion, fission, movement during the time-lapse imaging. Its ease of implementation should facilitate its application to a broad spectrum of time-lapse imaging studies.

  10. Real-time multi-signal frequency tracking with a bank of notch filters to estimate the respiratory rate from the ECG.

    Science.gov (United States)

    Mirmohamadsadeghi, Leila; Vesin, Jean-Marc

    2016-09-01

    Measuring the instantaneous frequency of a signal rapidly and accurately is essential in many applications. However, the instantaneous frequency by definition is a parameter difficult to determine. Fourier-based methods introduce estimation delays as computations are performed in a time-window. Instantaneous methods based on the Hilbert transform lack robustness. State-of-the-art adaptive filters yield accurate estimates, however, with an adaptation delay. In this study we propose an algorithm based on short length-3 FIR notch filters to estimate the instantaneous frequency of a signal at each sample, in a real-time manner and with very low delay. The output powers of a bank of the above-mentioned filters are used in a recursive weighting scheme to estimate the dominant frequency of the input. This scheme has been extended to process multiple inputs containing a common frequency by introducing an additional weighting scheme upon the inputs. The algorithm was tested on synthetic data and then evaluated on real biomedical data, i.e. the estimation of the respiratory rate from the electrocardiogram. It was shown that the proposed method provided more accurate estimates with less delay than those of state-of-the-art methods. By virtue of its simplicity and good performance, the proposed method is a worthy candidate to be used in biomedical applications, for example in health monitoring developments based on portable and automatic devices. PMID:27510318

  11. Ovation Prime Real-Time

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Ovation Prime Real-Time (OPRT) product is a real-time forecast and nowcast model of auroral power and is an operational implementation of the work by Newell et...

  12. Performance accuracy of real-time GPS asset tracking systems for timber haulage trucks travelling on both internal forest road and public road networks

    OpenAIRE

    Devlin, Ger; McDonnell, Kevin

    2009-01-01

    The GPSTRACK project has arisen as a result of a recommendation in the Forest Industry Transport Group (FITG) Code of Practice for Timber Haulage, which was to 'Encourage closer co-operation between consignors and hauliers to plan routes in a manner which optimizes the economic returns within a legal framework'. The project involved the installation of Bluetree global positioning systems (GPS) asset tracking systems onto two timber haulage trucks: an articulated Iveco Stralis 530 6⋆2 tractor ...

  13. WE-G-BRF-03: A Quasi-Cine CBCT Reconstruction Technique for Real-Time On- Board Target Tracking of Lung Cancer Treatment

    International Nuclear Information System (INIS)

    Purpose: To develop a quasi-cine CBCT reconstruction technique that uses extremely-small angle (∼3°) projections to generate real-time high-quality lung CBCT images. Method: 4D-CBCT is obtained at the beginning and used as prior images. This study uses extremely-small angle (∼3°) on-board projections acquired at a single respiratory phase to reconstruct the CBCT image at this phase. An adaptive constrained free-form deformation (ACFD) method is developed to deform the prior 4D-CBCT volume at the same phase to reconstruct the new CBCT. Quasi-cine CBCT images are obtained by continuously reconstructing CBCT images at subsequent phases every 3° angle (∼0.5s). Note that the prior 4D-CBCT images are dynamically updated using the latest CBCT images. The 4D digital extended-cardiac-torso (XCAT) phantom was used to evaluate the efficacy of ACFD. A lung patient was simulated with a tumor baseline shift of 2mm along superior-inferior (SI) direction after every respiratory cycle for 5 cycles. Limited-angle projections were simulated for each cycle. The 4D-CBCT reconstructed by these projections were compared with the ground-truth generated in XCAT.Volume-percentage-difference (VPD) and center-of-mass-shift (COMS) were calculated between the reconstructed and the ground-truth tumors to evaluate their geometric differences.The ACFD was also compared to a principal-component-analysis based motion-modeling (MM) method. Results: Using orthogonal-view 3° projections, the VPD/COMS values for tumor baseline shifts of 2mm, 4mm, 6mm, 8mm, 10mm were 11.0%/0.3mm, 25.3%/2.7mm, 22.4%/2.9mm, 49.5%/5.4mm, 77.2%/8.1mm for the MM method, and 2.9%/0.7mm, 3.9%/0.8mm, 6.2%/1mm, 7.9%/1.2mm, 10.1%/1.1mm for the ACFD method. Using orthogonal-view 0° projections (1 projection only), the ACFD method yielded VPD/COMS results of 5.0%/0.9mm, 10.5%/1.2mm, 15.1%/1.4mm, 20.9%/1.6mm and 24.8%/1.6mm. Using single-view instead of orthogonal-view projections yielded less accurate results for ACFD

  14. Comparison between target margins derived from 4DCT scans and real-time tumor motion tracking: Insights from lung tumor patients treated with robotic radiosurgery

    International Nuclear Information System (INIS)

    Purpose: A unique capability of the CyberKnife system is dynamic target tracking. However, not all patients are eligible for this approach. Rather, their tumors are tracked statically using the vertebral column for alignment. When using static tracking, the internal target volume (ITV) is delineated on the four-dimensional (4D) CT scan and an additional margin is added to account for setup uncertainty [planning target volume (PTV)]. Treatment margins are difficult to estimate due to unpredictable variations in tumor motion and respiratory pattern during the course of treatment. The inability to track the target and detect changes in respiratory characteristics might result in geographic misses and local tumor recurrences. The purpose of this study is to develop a method to evaluate the adequacy of ITV-to-PTV margins for patients treated in this manner. Methods: Data from 24 patients with lesions in the upper lobe (n = 12), middle lobe (n = 3), and lower lobe (n = 9) were included in this study. Each patient was treated with dynamic tracking and underwent 4DCT scanning at the time of simulation. Data including the 3D coordinates of the target over the course of treatment were extracted from the treatment log files and used to determine actual target motion in the superior–inferior (S–I), anterior–posterior (A–P), and left–right (L–R) directions. Different approaches were used to calculate anisotropic and isotropic margins, assuming that the tumor moves as a rigid body. Anisotropic margins were calculated by separating target motion in the three anatomical directions, and a uniform margin was calculated by shifting the gross tumor volume contours in the 3D space and by computing the percentage of overlap with the PTV. The analysis was validated by means of a theoretical formulation. Results: The three methods provided consistent results. A uniform margin of 4.5 mm around the ITV was necessary to assure 95% target coverage for 95% of the fractions included

  15. Comparison between target margins derived from 4DCT scans and real-time tumor motion tracking: Insights from lung tumor patients treated with robotic radiosurgery

    Energy Technology Data Exchange (ETDEWEB)

    Descovich, Martina, E-mail: mdescovich@radonc.ucsf.edu; McGuinness, Christopher; Kannarunimit, Danita; Chen, Josephine; Pinnaduwage, Dilini; Pouliot, Jean; Kased, Norbert; Gottschalk, Alexander R.; Yom, Sue S. [UCSF Department of Radiation Oncology, San Francisco, California 94115 (United States)

    2015-03-15

    Purpose: A unique capability of the CyberKnife system is dynamic target tracking. However, not all patients are eligible for this approach. Rather, their tumors are tracked statically using the vertebral column for alignment. When using static tracking, the internal target volume (ITV) is delineated on the four-dimensional (4D) CT scan and an additional margin is added to account for setup uncertainty [planning target volume (PTV)]. Treatment margins are difficult to estimate due to unpredictable variations in tumor motion and respiratory pattern during the course of treatment. The inability to track the target and detect changes in respiratory characteristics might result in geographic misses and local tumor recurrences. The purpose of this study is to develop a method to evaluate the adequacy of ITV-to-PTV margins for patients treated in this manner. Methods: Data from 24 patients with lesions in the upper lobe (n = 12), middle lobe (n = 3), and lower lobe (n = 9) were included in this study. Each patient was treated with dynamic tracking and underwent 4DCT scanning at the time of simulation. Data including the 3D coordinates of the target over the course of treatment were extracted from the treatment log files and used to determine actual target motion in the superior–inferior (S–I), anterior–posterior (A–P), and left–right (L–R) directions. Different approaches were used to calculate anisotropic and isotropic margins, assuming that the tumor moves as a rigid body. Anisotropic margins were calculated by separating target motion in the three anatomical directions, and a uniform margin was calculated by shifting the gross tumor volume contours in the 3D space and by computing the percentage of overlap with the PTV. The analysis was validated by means of a theoretical formulation. Results: The three methods provided consistent results. A uniform margin of 4.5 mm around the ITV was necessary to assure 95% target coverage for 95% of the fractions included

  16. Designing Real Time Assistive Technologies

    DEFF Research Database (Denmark)

    Sonne, Tobias; Obel, Carsten; Grønbæk, Kaj

    2015-01-01

    design criteria in relation to three core components (sensing, recognizing, and assisting) for designing real time assistive technologies for children with ADHD. Based on these design criteria, we designed the Child Activity Sensing and Training Tool (CASTT), a real time assistive prototype that captures......) real time assistive technologies have potential to assist children with ADHD in regaining attention in critical school situations....

  17. Pilot Study of Systems to Drive Autonomous Vehicles on Test Tracks

    OpenAIRE

    Agardt, Erik; Löfgren, Markus

    2008-01-01

    This Master’s thesis is a pilot study that investigates different systems to drive autonomous and non-autonomous vehicles simultaneously on test tracks. The thesis includes studies of communication, positioning, collision avoidance, and techniques for surveillance of vehicles which are suitable for implementation. The investigation results in a suggested system outline. Differential GPS combined with laser scanner vision is used for vehicle state estimation (position, heading, velocity, etc.)...

  18. SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs

    OpenAIRE

    Budd, Johnathan

    2015-01-01

    While oceans cover the majority of our planet, these vast expanses remain relatively unexplored. Among the most interesting parts of the ocean are the shallow reef systems, which contain a huge amount of the planet’s biodiversity. The Sustained Engagement Autonomous Tracking of Underwater RepTiLEs or SEATURTLE is a low cost Autonomous Underwater Vehicle designed to carry out missions in these shallow environments. Its small displacement and precise movement make it ideal for navigating tight ...

  19. Acting to gain information: Real-time reasoning meets real-time perception

    Science.gov (United States)

    Rosenschein, Stan

    1994-01-01

    Recent advances in intelligent reactive systems suggest new approaches to the problem of deriving task-relevant information from perceptual systems in real time. The author will describe work in progress aimed at coupling intelligent control mechanisms to real-time perception systems, with special emphasis on frame rate visual measurement systems. A model for integrated reasoning and perception will be discussed, and recent progress in applying these ideas to problems of sensor utilization for efficient recognition and tracking will be described.

  20. Real-Time Tracking of BODIPY-C12 Long-Chain Fatty Acid in Human Term Placenta Reveals Unique Lipid Dynamics in Cytotrophoblast Cells.

    Directory of Open Access Journals (Sweden)

    Kevin Kolahi

    Full Text Available While the human placenta must provide selected long-chain fatty acids to support the developing fetal brain, little is known about the mechanisms underlying the transport process. We tracked the movement of the fluorescently labeled long-chain fatty acid analogue, BODIPY-C12, across the cell layers of living explants of human term placenta. Although all layers took up the fatty acid, rapid esterification of long-chain fatty acids and incorporation into lipid droplets was exclusive to the inner layer cytotrophoblast cells rather than the expected outer syncytiotrophoblast layer. Cytotrophoblast is a progenitor cell layer previously relegated to a repair role. As isolated cytotrophoblasts differentiated into syncytialized cells in culture, they weakened their lipid processing capacity. Syncytializing cells suppress previously active genes that regulate fatty-acid uptake (SLC27A2/FATP2, FABP4, ACSL5 and lipid metabolism (GPAT3, LPCAT3. We speculate that cytotrophoblast performs a previously unrecognized role in regulating placental fatty acid uptake and metabolism.

  1. First evaluation of the CPU, GPGPU and MIC architectures for real time particle tracking based on Hough transform at the LHC

    International Nuclear Information System (INIS)

    Recent innovations focused around parallel processing, either through systems containing multiple processors or processors containing multiple cores, hold great promise for enhancing the performance of the trigger at the LHC and extending its physics program. The flexibility of the CMS/ATLAS trigger system allows for easy integration of computational accelerators, such as NVIDIA's Tesla Graphics Processing Unit (GPU) or Intel's Xeon Phi, in the High Level Trigger. These accelerators have the potential to provide faster or more energy efficient event selection, thus opening up possibilities for new complex triggers that were not previously feasible. At the same time, it is crucial to explore the performance limits achievable on the latest generation multicore CPUs with the use of the best software optimization methods. In this article, a new tracking algorithm based on the Hough transform will be evaluated for the first time on multi-core Intel i7-3770 and Intel Xeon E5-2697v2 CPUs, an NVIDIA Tesla K20c GPU, and an Intel Xeon Phi 7120 coprocessor. Preliminary time performance will be presented

  2. Real-Time Tracking of BODIPY-C12 Long-Chain Fatty Acid in Human Term Placenta Reveals Unique Lipid Dynamics in Cytotrophoblast Cells

    Science.gov (United States)

    Louey, Samantha; Varlamov, Oleg; Thornburg, Kent

    2016-01-01

    While the human placenta must provide selected long-chain fatty acids to support the developing fetal brain, little is known about the mechanisms underlying the transport process. We tracked the movement of the fluorescently labeled long-chain fatty acid analogue, BODIPY-C12, across the cell layers of living explants of human term placenta. Although all layers took up the fatty acid, rapid esterification of long-chain fatty acids and incorporation into lipid droplets was exclusive to the inner layer cytotrophoblast cells rather than the expected outer syncytiotrophoblast layer. Cytotrophoblast is a progenitor cell layer previously relegated to a repair role. As isolated cytotrophoblasts differentiated into syncytialized cells in culture, they weakened their lipid processing capacity. Syncytializing cells suppress previously active genes that regulate fatty-acid uptake (SLC27A2/FATP2, FABP4, ACSL5) and lipid metabolism (GPAT3, LPCAT3). We speculate that cytotrophoblast performs a previously unrecognized role in regulating placental fatty acid uptake and metabolism. PMID:27124483

  3. First evaluation of the CPU, GPGPU and MIC architectures for real time particle tracking based on Hough transform at the LHC

    Science.gov (United States)

    Halyo, V.; LeGresley, P.; Lujan, P.; Karpusenko, V.; Vladimirov, A.

    2014-04-01

    Recent innovations focused around parallel processing, either through systems containing multiple processors or processors containing multiple cores, hold great promise for enhancing the performance of the trigger at the LHC and extending its physics program. The flexibility of the CMS/ATLAS trigger system allows for easy integration of computational accelerators, such as NVIDIA's Tesla Graphics Processing Unit (GPU) or Intel's Xeon Phi, in the High Level Trigger. These accelerators have the potential to provide faster or more energy efficient event selection, thus opening up possibilities for new complex triggers that were not previously feasible. At the same time, it is crucial to explore the performance limits achievable on the latest generation multicore CPUs with the use of the best software optimization methods. In this article, a new tracking algorithm based on the Hough transform will be evaluated for the first time on multi-core Intel i7-3770 and Intel Xeon E5-2697v2 CPUs, an NVIDIA Tesla K20c GPU, and an Intel Xeon Phi 7120 coprocessor. Preliminary time performance will be presented.

  4. First Evaluation of the CPU, GPGPU and MIC Architectures for Real Time Particle Tracking based on Hough Transform at the LHC

    CERN Document Server

    Halyo, V; Lujan, P; Karpusenko, V; Vladimirov, A

    2014-01-01

    Recent innovations focused around {\\em parallel} processing, either through systems containing multiple processors or processors containing multiple cores, hold great promise for enhancing the performance of the trigger at the LHC and extending its physics program. The flexibility of the CMS/ATLAS trigger system allows for easy integration of computational accelerators, such as NVIDIA's Tesla Graphics Processing Unit (GPU) or Intel's \\xphi, in the High Level Trigger. These accelerators have the potential to provide faster or more energy efficient event selection, thus opening up possibilities for new complex triggers that were not previously feasible. At the same time, it is crucial to explore the performance limits achievable on the latest generation multicore CPUs with the use of the best software optimization methods. In this article, a new tracking algorithm based on the Hough transform will be evaluated for the first time on a multi-core Intel Xeon E5-2697v2 CPU, an NVIDIA Tesla K20c GPU, and an Intel \\x...

  5. Investigation of the change in marker geometry during respiration motion: a preliminary study for dynamic-multi-leaf real-time tumor tracking

    International Nuclear Information System (INIS)

    The use of stereotactic body radiotherapy (SBRT) is rapidly increasing. Presently, the most accurate method uses fiducial markers implanted near the tumor. A shortcoming of this method is that the beams turn off during the majority of the respiratory cycle, resulting in a prolonged treatment time. Recent advances in collimation technology have enabled continuous irradiation to a moving tumor. However, the lung is a dynamic organ characterized by inhalation exhalation cycles, during which marker/tumor geometry may change (i.e., misalignment), resulting in under-dosing to the tumor. Eight patients with lung cancer who were candidates for stereotactic radiotherapy were examined with 4D high-resolution CT. As a marker surrogate, virtual bronchoscopy using the pulmonary artery (VBPA) was conducted. To detect possible marker/tumor misalignment during the respiration cycle, the distance between the peripheral bronchus, where a marker could be implanted, and the center of gravity of a tumor were calculated for each respiratory phase. When the respiration cycle was divided into 10 phases, the median value was significantly larger for the 30%-70% respiratory phases compared to that for the 10% respiratory phase (P<0.05, Mann–Whitney U-test). These results demonstrate that physiological aspect must be considered when continuous tumor tracking is applied to a moving tumor. To minimize an “additional” internal target volume (ITV) margin, a marker should be placed approximately 2.5 cm from the tumor

  6. Autonomous Tracking Research and Realization of Intelligent Car Environment Adaptive Capacity

    OpenAIRE

    Man Song; Yang Zhang

    2012-01-01

    Autonomous tracking intelligent car is a system which is based on Free scale’s microcontroller MC9S12DG128, and takes a new type of environment adaptive control methods, enabling it to realize independent tracking functions in a complex environment. The system uses a control based on fuzzy adaptive controller for intelligent vehicle's direction of travel, combined with outside hardware of binarization method to quickly process image information. Image information through the AD within the mic...

  7. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle’s lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  8. 增强现实中基于自然特征的实时跟踪方法%Natural feature-based real time tracking method for augmented reality

    Institute of Scientific and Technical Information of China (English)

    刘嘉敏; 孙洪兴; 陈烁; 常燕; 辛义忠

    2014-01-01

    在增强现实系统的复杂场景中,对目标的实时跟踪受到场景中诸多因素的制约,导致实时跟踪方法效率低且不准确,为此提出一种基于自然特征的实时跟踪方法。设计了一种螺旋分割模型,对捕获的图像进行螺旋分割,利用SURF算法在分割子块中提取特征点,并进行匹配。在对目标进行跟踪定位时,利用前一帧来预测当前帧目标出现的位置,以减少SURF算法的扫描区域,加速系统运算效率。实验中分别对场景光线强弱、视点和仿射变化以及目标被部分遮挡等不同情况进行测试,该方法均表现出较高的跟踪效率。%In complex scenes of augmented reality systems ,the real-time tracking of a target is made difficult by many factors within the scene and as a result many current real time tracking methods are low in efficiency and accuracy .To solve the prob-lem ,a natural feature-based tracking method was proposed that utilized a spiral model for segmenting captured images .Once an image was segmented ,feature points in the segmented blocks were extracted using the SURF algorithm and then matched with those in the template image set .Whilst tracking the target ,the position in the current frame was predicted according to the posi-tion in the previous frame in order to reduce search areas and improve the algorithm efficiency .Under situations of varying light intensity and viewpoints ,affine transformation and partially occluding targets ,experimental results show this method has high tracking efficiency .

  9. Optimum location of external markers using feature selection algorithms for real-time tumor tracking in external-beam radiotherapy: a virtual phantom study.

    Science.gov (United States)

    Nankali, Saber; Esmaili Torshabi, Ahmad; Samadi Miandoab, Payam; Baghizadeh, Amin

    2016-01-01

    In external-beam radiotherapy, using external markers is one of the most reliable tools to predict tumor position, in clinical applications. The main challenge in this approach is tumor motion tracking with highest accuracy that depends heavily on external markers location, and this issue is the objective of this study. Four commercially available feature selection algorithms entitled 1) Correlation-based Feature Selection, 2) Classifier, 3) Principal Components, and 4) Relief were proposed to find optimum location of external markers in combination with two "Genetic" and "Ranker" searching procedures. The performance of these algorithms has been evaluated using four-dimensional extended cardiac-torso anthropomorphic phantom. Six tumors in lung, three tumors in liver, and 49 points on the thorax surface were taken into account to simulate internal and external motions, respectively. The root mean square error of an adaptive neuro-fuzzy inference system (ANFIS) as prediction model was considered as metric for quantitatively evaluating the performance of proposed feature selection algorithms. To do this, the thorax surface region was divided into nine smaller segments and predefined tumors motion was predicted by ANFIS using external motion data of given markers at each small segment, separately. Our comparative results showed that all feature selection algorithms can reasonably select specific external markers from those segments where the root mean square error of the ANFIS model is minimum. Moreover, the performance accuracy of proposed feature selection algorithms was compared, separately. For this, each tumor motion was predicted using motion data of those external markers selected by each feature selection algorithm. Duncan statistical test, followed by F-test, on final results reflected that all proposed feature selection algorithms have the same performance accuracy for lung tumors. But for liver tumors, a correlation-based feature selection algorithm, in

  10. Real-time shipboard orbit determination using Kalman filtering techniques

    Science.gov (United States)

    Brammer, R. F.

    1974-01-01

    The real-time tracking and orbit determination program used on board the NASA tracking ship, the USNS Vanguard, is described in this paper. The computer program uses a variety of filtering algorithms, including an extended Kalman filter, to derive real-time orbit determinations (position-velocity state vectors) from shipboard tracking and navigation data. Results from Apollo missions are given to show that orbital parameters can be estimated quickly and accurately using these methods.

  11. Real Time Mapping and Dynamic Navigation for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Maki K. Habib

    2008-11-01

    Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

  12. Path tracking control of autonomous agricultural mobile robots

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral deviations being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

  13. Real-time volume graphics

    CERN Document Server

    Engel, Klaus; Kniss, Joe; Rezk-Salama, Christof; Weiskopf, Daniel

    2006-01-01

    Based on course notes of SIGGRAPH course teaching techniques for real-time rendering of volumetric data and effects; covers both applications in scientific visualization and real-time rendering. Starts with the basics (texture-based ray casting) and then improves and expands the algorithms incrementally. Book includes source code, algorithms, diagrams, and rendered graphics.

  14. Autonomous sensor particle for parameter tracking in large vessels

    International Nuclear Information System (INIS)

    A self-powered and neutrally buoyant sensor particle has been developed for the long-term measurement of spatially distributed process parameters in the chemically harsh environments of large vessels. One intended application is the measurement of flow parameters in stirred fermentation biogas reactors. The prototype sensor particle is a robust and neutrally buoyant capsule, which allows free movement with the flow. It contains measurement devices that log the temperature, absolute pressure (immersion depth) and 3D-acceleration data. A careful calibration including an uncertainty analysis has been performed. Furthermore, autonomous operation of the developed prototype was successfully proven in a flow experiment in a stirred reactor model. It showed that the sensor particle is feasible for future application in fermentation reactors and other industrial processes

  15. Four-dimensional dose distributions of step-and-shoot IMRT delivered with real-time tumor tracking for patients with irregular breathing: Constant dose rate vs dose rate regulation

    International Nuclear Information System (INIS)

    Purpose: Dose-rate-regulated tracking (DRRT) is a tumor tracking strategy that programs the MLC to track the tumor under regular breathing and adapts to breathing irregularities during delivery using dose rate regulation. Constant-dose-rate tracking (CDRT) is a strategy that dynamically repositions the beam to account for intrafractional 3D target motion according to real-time information of target location obtained from an independent position monitoring system. The purpose of this study is to illustrate the differences in the effectiveness and delivery accuracy between these two tracking methods in the presence of breathing irregularities. Methods: Step-and-shoot IMRT plans optimized at a reference phase were extended to remaining phases to generate 10-phased 4D-IMRT plans using segment aperture morphing (SAM) algorithm, where both tumor displacement and deformation were considered. A SAM-based 4D plan has been demonstrated to provide better plan quality than plans not considering target deformation. However, delivering such a plan requires preprogramming of the MLC aperture sequence. Deliveries of the 4D plans using DRRT and CDRT tracking approaches were simulated assuming the breathing period is either shorter or longer than the planning day, for 4 IMRT cases: two lung and two pancreatic cases with maximum GTV centroid motion greater than 1 cm were selected. In DRRT, dose rate was regulated to speed up or slow down delivery as needed such that each planned segment is delivered at the planned breathing phase. In CDRT, MLC is separately controlled to follow the tumor motion, but dose rate was kept constant. In addition to breathing period change, effect of breathing amplitude variation on target and critical tissue dose distribution is also evaluated. Results: Delivery of preprogrammed 4D plans by the CDRT method resulted in an average of 5% increase in target dose and noticeable increase in organs at risk (OAR) dose when patient breathing is either 10% faster or

  16. Object detection in real-time

    Science.gov (United States)

    Solder, Ulrich; Graefe, Volker

    1991-03-01

    An algorithm working on monocular gray-scale image sequences for object detection combined with a road tracker is presented. This algorithm appropriate for the real-time demands of an autonomous car driving with speeds over 40 km/h may be used for triggering obstacle avoidance maneuvers such as coming to a safe stop automatically in front of an obstacle or following another car. Moving and static objects have been detected in real-world experiments on various types of roads even under unfavorable weather conditions. . Morgenthaler and

  17. SU-D-18A-06: Variation of Controlled Breath Hold From CT Simulation to Treatment and Its Dosimetric Impact for Left-Sided Breast Radiotherapy with a Real-Time Optical Tracking System

    International Nuclear Information System (INIS)

    Purpose: Different breath-hold (BH) maneuvers (abdominal breathing vs. chest breathing) during CT simulation and treatment can lead to chest wall positional variation. The purpose of this study is to quantify the variation of active breathing control (ABC)-assisted BH and estimate its dosimetric impact for left-sided whole-breast radiotherapy with a real-time optical tracking system (OTS). Methods: Seven breast cancer patients were included. An in-house OTS tracked an infrared (IR) marker affixed over the xiphoid process of the patient at CT simulation and throughout the treatment course to measure BH variations. Correlation between the IR marker and the breast was studied for dosimetric purposes. The positional variations of 860 BHs were retrospectively incorporated into treatment plans to assess their dosimetric impact on breast and cardiac organs (heart and left anterior descending artery [LAD]). Results: The mean intrafraction variations were 2.8 mm, 2.7 mm, and 1.6 mm in the anteroposterior (AP), craniocaudal (CC), and mediolateral (ML) directions, respectively. Mean stability in any direction was within 1.5 mm. A general trend of BH undershoot at treatment relative to CT simulation was observed with an average of 4.4 mm, 3.6 mm, and 0.1 mm in the AP, CC, and ML directions, respectively. Undershoot up to 12.6 mm was observed for individual patients. The difference between the planned and delivered dose to breast targets was negligible. The average planned/delivered mean heart doses, mean LAD doses, and max LAD doses were 1.4/2.1, 7.4/15.7, and 18.6/31.0 Gy, respectively. Conclusion: Systematic undershoot was observed in ABC-assisted BHs from CT simulation to treatment. Its dosimetric impact on breast coverage was minimized with image guidance, but the benefits of cardiac organ sparing were degraded. A real-time tracking system can be used in junction with the ABC device to improve BH reproducibility

  18. Pedestrian Tracking based on Camshift with Kalman Prediction for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Lie Guo

    2016-06-01

    Full Text Available Pedestrian detection and tracking is the key to autonomous vehicle navigation systems avoiding potentially dangerous situations. Firstly, the probability distribution of colour information is established after a pedestrian is located in an image. Then the detected results are utilized to initialize a Kalman filter to predict the possible position of the pedestrian centroid in the future frame. A Camshift tracking algorithm is used to track the pedestrian in the specific search window of the next frame based on the prediction results. The actual position of the pedestrian centroid is output from the Camshift tracking algorithm to update the gain and error covariance matrix of the Kalman filter. Experimental results in real traffic situations show the proposed pedestrian tracking algorithm can achieve good performance even when they are partly occluded in inconsistent illumination circumstances.

  19. 基于卡尔曼滤波的弱小目标实时检测与跟踪%Real-time Detection and Tracking for Dim-small Target Based on Kalman Filtering

    Institute of Scientific and Technical Information of China (English)

    高建伟; 李磊; 姚睿; 孙瑾秋; 张艳宁

    2012-01-01

    提出一种基于卡尔曼滤波的弱小目标实时检测与跟踪方法.计算每帧图像上所有星点到参考星点的距离,利用目标与背景恒星运动特性上的差异检测出运动目标.针对漏检问题,采用卡尔曼滤波算法估计目标在漏检帧上的位置,通过对图像的重分割寻找丢失目标,利用目标的运动信息建立连续的目标链.实验结果表明,该方法能实现高检测率和低虚警率的实时检测.%This paper presents a real-time detection and tracking method for dim-small target based on Kalman Filtering(KF). In adjoining frames same reference stars are selected and it calculates the distance of every star to the reference stars. Because the star points in the background have different movement from the targets, the true targets can be found from the stars. To solve the problem of targets loss, KF is used to forecast the position and the picture is segmented to find the lost target, and target chains are built with the movement stability. Experimental results show that the method can perfectly meet the requirements of the real-time space target detection with a high detection probability and a low false alarm rate.

  20. Hardware Approach for Real Time Machine Stereo Vision

    OpenAIRE

    Michael Tornow; Jens Kaszubiak; Thomas Schindler; Robert W. Kuhn; Bernd Michaelis

    2006-01-01

    Image processing is an effective tool for the analysis of optical sensor information for driver assistance systems and controlling of autonomous robots. Algorithms for image processing are often very complex and costly in terms of computation. In robotics and driver assistance systems, real-time processing is necessary. Signal processing algorithms must often be drastically modified so they can be implemented in the hardware. This task is especially difficult for continuous real-time processi...

  1. Real-Time Blackboards For Sensor Fusions

    Science.gov (United States)

    Johnson, Donald H.; Shaw, Scott W.; Reynolds, Steven; Himayat, Nageen

    1989-09-01

    Multi-sensor fusion, at the most basic level, can be cast into a concise, elegant model. Reality demands, however, that this model be modified and augmented. These modifications often result in software systems that are confusing in function and difficult to debug. This problem can be ameliorated by adopting an object-oriented, data-flow programming style. For real-time applications, this approach simplifies data communications and storage management. The concept of object-oriented, data-flow programming is conveniently embodied in the black-board style of software architecture. Blackboard systems allow diverse programs access to a central data base. When the blackboard is described as an object, it can be distributed over multiple processors for real-time applications. Choosing the appropriate parallel architecture is the subject of ongoing research. A prototype blackboard has been constructed to fuse optical image regions and Doppler radar events. The system maintains tracks of simulated targets in real time. The results of this simulation have been used to direct further research on real-time blackboard systems.

  2. Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control

    OpenAIRE

    Krupinsky, Szymon; Allibert, Guillaume; Hua, Minh Duc; Hamel, Tarek

    2012-01-01

    International audience This paper describes a nonlinear image-based visual servo control algorithm for the pipeline tracking problem of a fully-actuated underwater vehicle. The dynamic model of a generic autonomous underwater vehicle (AUV), incorporating all significant forces and torques is developed and a generic velocity control strategy is proposed. The desired velocities in the plane orthogonal to the direction of the pipeline along with the yaw velocity are derived from the image seq...

  3. An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances

    OpenAIRE

    Zhang, Jian Yuan Wen-Xia; Zhou, Zhou-Hai

    2012-01-01

    The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solving the Riccati equations and matrix equations. The existence and uniqueness condition of feedforward...

  4. Real Time Structured Light and Applications

    DEFF Research Database (Denmark)

    Wilm, Jakob

    3D sensor ubiquitous and have resulted in a vast amount of new applications and methods. However, such low-cost sensors are generally limited in their accuracy and precision, making them unsuitable for e.g. accurate tracking and pose estimation. With recent improvements in projector technology......, increased processing power, and methods presented in this thesis, it is possible to perform structured light scans in real time with 20 depth measurements per second. This offers new opportunities for studying dynamic scenes, quality control, human-computer interaction and more. This thesis discusses...... several aspects of real time structured light systems and presents contributions within calibration, scene coding and motion correction aspects. The problem of reliable and fast calibration of such systems is addressed with a novel calibration scheme utilising radial basis functions [Contribution B...

  5. Assessment of Left Atrial Function by Full Volume Real-time Three-dimensional Echocardiography and Left Atrial Tracking in Essential Hypertension Patients with Different Patterns of Left Ventricular Geometric Models

    Institute of Scientific and Technical Information of China (English)

    Yang Wang; Lin Gao; Jian-bai Li; Chao Yu

    2013-01-01

    Objective To evaluate left atrial function in essential hypertension patients with different patterns of left ventricular geometric models by real-time three-dimensional echocardiography (RT-3DE) and left atrial tracking (LAT). Methods One hundred and thirty-three patients with essential hypertension were divided into four groups according to criteria proposed by Ganau et al:36 patients in normal pattern group (I), 34 patients in concentric remodelling pattern group (II), 33 patients in concentric hypertrophy pattern group (III), and 30 patients in eccentric hypertrophy pattern group (IV). Thirty-two healthy volunteers were enrolled in this study. RT-3DE and LAT were used to obtain the volume-time and emptying fraction curves, and then the maximal volume, minimal volume, stroke volume, presystolic volume, ejection fraction, systolic filling rate, early diastolic emptying rate and late diastolic emptying rate of the left atrium were measured. Conduit volume and passive emptying volume of the left atrium were calculated. Results Left atrial indexes, conduit volume, passive emptying volume, and early diastolic emptying rate decreased, while the other indices increased in the group I compared with the control group (all P0.05). There was a positive correlation between RT-3DE and LAT in evaluating left atrial function. Conclusions Left atrial booster pump function decreases in the eccentric hypertrophy pattern. Left atrial conduit function is unchanged in the normal pattern and the concentric remodelling pattern groups. RT-3DE and LAT technology can be used for quantitative evaluation of left atrial volume and function.

  6. 实时跟踪过程参数式电弧炉电极调节系统%Electrode Regulating System of the Real Time Tracking Process Parameters for the EAF

    Institute of Scientific and Technical Information of China (English)

    花皑; 王莉莎; 王华; 顾耀国

    2013-01-01

    The electrode regulating for EAF is a heart equipment of the furnace melting operation, it has extremely influence on the working efficiency, electric energy and electrode consumption as well as the active power input into the EAF. Moreover, the key segments determining regulating system accuracy are signal measurement circuit and controller. The electrode regulating system of the real time tracking process parameters for the EAF are introduced in detail.%电弧炉的电极调节系统是电弧炉冶炼作业的心脏环节,它极大地影响电弧炉工作效率、电能消耗、电极消耗和输入到电弧炉中的有功功率,而决定调节系统精度的关键环节是调节系统的信号捡测量环节和控制器.文中详细介绍实时跟踪过程参数式电弧炉电极调节系统.

  7. Real-time dynamic obstacle detection and tracking using 3D Lidar%基于三维激光雷达的动态障碍实时检测与跟踪

    Institute of Scientific and Technical Information of China (English)

    杨飞; 朱株; 龚小谨; 刘济林

    2012-01-01

    In order to detect and track obstacles under large amount of data efficiently, an approach for realtime multiple obstacle detection and tracking in dynamic unknown environment was presented. The Velo-dyne 64E 3D Lidar has the property of large amount of data and high accuracy, which was combined with camera for environment perception. The algorithm firstly coverts the region of interest of the Lidar data into a grid map according to road lane information obtained from image processing, then uses region labeling and template matching to detect box-model obstacles on the grid map, and finally tracks the obstacles. In order to avoid false alarm or miss matching, multiple hypothesis tracking and Kalman filter were used for obstacle tracking. The approach can detect obstacles accurately and track stably within 100 ms per frame on the autonomous vehicle.%为了解决在大数据量的情况下实现高效检测与跟踪的难点,提出一种室外动态未知环境下自主车的多障碍实时检测与跟踪的算法.由于Velodyne 64线三维激光雷达具有数据量大、精度高等特点,采用其与相机结合感知环境.算法结合从图像处理中得到的道边信息将原始激光雷达数据的感兴趣区域转化为栅格地图,在地图上采用区域标记和模板匹配的方法进行聚类和特征提取,检测得到盒子模型的障碍物,并进行障碍物跟踪.为了避免在多障碍物的情况下出现虚警和漏检,基于多假设跟踪数据关联和卡尔曼滤波来跟踪连续多帧的障碍物.本算法在自主车平台上能够以每帧100ms实现准确、稳定地检测和跟踪.

  8. HEVC real-time decoding

    Science.gov (United States)

    Bross, Benjamin; Alvarez-Mesa, Mauricio; George, Valeri; Chi, Chi Ching; Mayer, Tobias; Juurlink, Ben; Schierl, Thomas

    2013-09-01

    The new High Efficiency Video Coding Standard (HEVC) was finalized in January 2013. Compared to its predecessor H.264 / MPEG4-AVC, this new international standard is able to reduce the bitrate by 50% for the same subjective video quality. This paper investigates decoder optimizations that are needed to achieve HEVC real-time software decoding on a mobile processor. It is shown that HEVC real-time decoding up to high definition video is feasible using instruction extensions of the processor while decoding 4K ultra high definition video in real-time requires additional parallel processing. For parallel processing, a picture-level parallel approach has been chosen because it is generic and does not require bitstreams with special indication.

  9. Experiments in Real-time Path Planning for Riverine Environments

    OpenAIRE

    Reed, Caleb M.

    2008-01-01

    This work focuses on the development and implementation of an autonomous path planning and obstacle avoidance algorithm for an autonomous surface vehicle (ASV) in a riverine environment. The algorithm effectively handles trap situations, which occur when the river bends away from the destination. In addition, the algorithm uses real-time sensor feedback to avoid obstacles. A general global route is proposed based on an a priori shoreline map. Then, local paths are calculated considerin...

  10. Real time UAV autonomy through offline calculations

    Science.gov (United States)

    Jung, Sunghun

    . Once one or several targets are detected, UAVs near the target are manipulated to approach to the target. If the number of detected targets is more than one, UAVs are evenly grouped to track targets. After a specific period of time, UAVs hand off and continue their original tasks. Thirdly, Emergency algorithm is generated to avoid losses of UAVs when UAVs have system failures. If one UAV is out of fuel or control during the mission, the Emergency algorithm brings the malfunctioning UAV to the point of departure and let the rest UAVs to continue an aerial reconnaissance. An UAV which finishes its task the earliest will continue to search a region which the failed UAV is supposed to search. In addition, Emergency algorithm prevents UAVs colliding into each other by using emergency altitude. Overall, the framework developed here facilitates the solution of several mission planning problems. The robustness built into our discretization of space and time permits feedback corrections on real-time to vehicle trajectories. The library of off-line solutions proposed and developed here minimizes computational overhead during operations.

  11. Real-Time Hardware-in-the-Loop Tests of Star Tracker Algorithms

    Directory of Open Access Journals (Sweden)

    Giancarlo Rufino

    2013-01-01

    Full Text Available This paper deals with star tracker algorithms validation based on star field scene simulation and hardware-in-the-loop test configuration. A laboratory facility for indoor tests, based on the simulation of star field scenes, is presented. Attainable performance is analyzed theoretically for both static and dynamic simulations. Also, a test campaign is presented, in which a star sensor prototype with real-time, fully autonomous capability is exploited. Results that assess star field scene simulation performance and show the achievable validation for the sensor algorithms and performance in different operating modes (autonomous attitude acquisition, attitude tracking, and angular rate-only and different aspects (coverage, reliability, and measurement performance are discussed.

  12. Attitude and orbit control of small satellites for autonomous terrestrial target tracking

    Science.gov (United States)

    Ibrahim, Najmus S.

    Terrestrial target tracking using low Earth orbit satellites provides essential daily services and vital scientific data. In this thesis, the Attitude and Orbit Control System of such a terrestrial tracking satellite, Nanosatellite for Earth Monitoring and Observation Aerosol Monitor, is presented in detail. The satellite is a new generation Earth observation mission with the objective of detecting global atmospheric aerosol content through sub-degree pointing. The design is presented from initial hardware selection and budget development to operation definition and mission operation. The efficacy of performing precise autonomous Earth-pointing on a small satellite platform is validated through high fidelity simulations involving satellite and environmental dynamics, test-characterized hardware models and flight software-in-the-loop. The results provide practical target tracking methodologies which in the past have been publicly inaccessible to the author's best knowledge and which can be now be applied to a broad range of precise Earth-pointing satellites.

  13. Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle

    Directory of Open Access Journals (Sweden)

    Yahya Zare Khafri

    2012-07-01

    Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.

  14. ISTTOK real-time architecture

    Energy Technology Data Exchange (ETDEWEB)

    Carvalho, Ivo S., E-mail: ivoc@ipfn.ist.utl.pt; Duarte, Paulo; Fernandes, Horácio; Valcárcel, Daniel F.; Carvalho, Pedro J.; Silva, Carlos; Duarte, André S.; Neto, André; Sousa, Jorge; Batista, António J.N.; Hekkert, Tiago; Carvalho, Bernardo B.

    2014-03-15

    Highlights: • All real-time diagnostics and actuators were integrated in the same control platform. • A 100 μs control cycle was achieved under the MARTe framework. • Time-windows based control with several event-driven control strategies implemented. • AC discharges with exception handling on iron core flux saturation. • An HTML discharge configuration was developed for configuring the MARTe system. - Abstract: The ISTTOK tokamak was upgraded with a plasma control system based on the Advanced Telecommunications Computing Architecture (ATCA) standard. This control system was designed to improve the discharge stability and to extend the operational space to the alternate plasma current (AC) discharges as part of the ISTTOK scientific program. In order to accomplish these objectives all ISTTOK diagnostics and actuators relevant for real-time operation were integrated in the control system. The control system was programmed in C++ over the Multi-threaded Application Real-Time executor (MARTe) which provides, among other features, a real-time scheduler, an interrupt handler, an intercommunications interface between code blocks and a clearly bounded interface with the external devices. As a complement to the MARTe framework, the BaseLib2 library provides the foundations for the data, code introspection and also a Hypertext Transfer Protocol (HTTP) server service. Taking advantage of the modular nature of MARTe, the algorithms of each diagnostic data processing, discharge timing, context switch, control and actuators output reference generation, run on well-defined blocks of code named Generic Application Module (GAM). This approach allows reusability of the code, simplified simulation, replacement or editing without changing the remaining GAMs. The ISTTOK control system GAMs run sequentially each 100 μs cycle on an Intel{sup ®} Q8200 4-core processor running at 2.33 GHz located in the ATCA crate. Two boards (inside the ATCA crate) with 32 analog

  15. ISTTOK real-time architecture

    International Nuclear Information System (INIS)

    Highlights: • All real-time diagnostics and actuators were integrated in the same control platform. • A 100 μs control cycle was achieved under the MARTe framework. • Time-windows based control with several event-driven control strategies implemented. • AC discharges with exception handling on iron core flux saturation. • An HTML discharge configuration was developed for configuring the MARTe system. - Abstract: The ISTTOK tokamak was upgraded with a plasma control system based on the Advanced Telecommunications Computing Architecture (ATCA) standard. This control system was designed to improve the discharge stability and to extend the operational space to the alternate plasma current (AC) discharges as part of the ISTTOK scientific program. In order to accomplish these objectives all ISTTOK diagnostics and actuators relevant for real-time operation were integrated in the control system. The control system was programmed in C++ over the Multi-threaded Application Real-Time executor (MARTe) which provides, among other features, a real-time scheduler, an interrupt handler, an intercommunications interface between code blocks and a clearly bounded interface with the external devices. As a complement to the MARTe framework, the BaseLib2 library provides the foundations for the data, code introspection and also a Hypertext Transfer Protocol (HTTP) server service. Taking advantage of the modular nature of MARTe, the algorithms of each diagnostic data processing, discharge timing, context switch, control and actuators output reference generation, run on well-defined blocks of code named Generic Application Module (GAM). This approach allows reusability of the code, simplified simulation, replacement or editing without changing the remaining GAMs. The ISTTOK control system GAMs run sequentially each 100 μs cycle on an Intel® Q8200 4-core processor running at 2.33 GHz located in the ATCA crate. Two boards (inside the ATCA crate) with 32 analog

  16. Knowledge exchange between agents in real-time environments

    DEFF Research Database (Denmark)

    Frisvad, Jeppe Revall; Falster, Peter; Møller, Gert Lykke;

    2005-01-01

    To obtain unpredictable social interaction between autonomous agents in real-time environments, we present a simple method for logic-based knowledge exchange. A method which is able to form new knowledge rather than do simple exchange of particular rules found in predetermined rule sets. The...

  17. Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

    Science.gov (United States)

    Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

    2012-01-01

    This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

  18. Near real-time stereo vision system

    Science.gov (United States)

    Anderson, Charles H. (Inventor); Matthies, Larry H. (Inventor)

    1993-01-01

    The apparatus for a near real-time stereo vision system for use with a robotic vehicle is described. The system is comprised of two cameras mounted on three-axis rotation platforms, image-processing boards, a CPU, and specialized stereo vision algorithms. Bandpass-filtered image pyramids are computed, stereo matching is performed by least-squares correlation, and confidence ranges are estimated by means of Bayes' theorem. In particular, Laplacian image pyramids are built and disparity maps are produced from the 60 x 64 level of the pyramids at rates of up to 2 seconds per image pair. The first autonomous cross-country robotic traverses (of up to 100 meters) have been achieved using the stereo vision system of the present invention with all computing done onboard the vehicle. The overall approach disclosed herein provides a unifying paradigm for practical domain-independent stereo ranging.

  19. 360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

    Science.gov (United States)

    Wolf, Michael T; Assad, Christopher; Kuwata, Yoshiaki; Howard, Andrew; Aghazarian, Hrand; Zhu, David; Lu, Thomas; Trebi-Ollennu, Ashitey; Huntsberger, Terry

    2010-01-01

    This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

  20. A study of real-time content marketing : formulating real-time content marketing based on content, search and social media

    OpenAIRE

    Nguyen, Thi Kim Duyen

    2015-01-01

    The primary objective of this research is to understand profoundly the new concept of content marketing – real-time content marketing on the aspect of the digital marketing experts. Particularly, the research will focus on the real-time content marketing theories and how to build real-time content marketing strategy based on content, search and social media. It also finds out how marketers measure and keep track of conversion rates of their real-time content marketing plan. Practically, th...

  1. Evaluation of a combined respiratory-gating system comprising the TrueBeam linear accelerator and a new real-time tumor-tracking radiotherapy system: a preliminary study.

    Science.gov (United States)

    Shiinoki, Takehiro; Kawamura, Shinji; Uehara, Takuya; Yuasa, Yuki; Fujimoto, Koya; Koike, Masahiro; Sera, Tatsuhiro; Emoto, Yuki; Hanazawa, Hideki; Shibuya, Keiko

    2016-01-01

    A combined system comprising the TrueBeam linear accelerator and a new real-time, tumor-tracking radiotherapy system, SyncTraX, was installed in our institution. The goals of this study were to assess the capability of SyncTraX in measuring the position of a fiducial marker using color fluoroscopic images, and to evaluate the dosimetric and geometric accuracy of respiratory-gated radiotherapy using this combined system for the simple geometry. For the fundamental evaluation of respiratory-gated radiotherapy using SyncTraX, the following were performed:1) determination of dosimetric and positional characteristics of sinusoidal patterns using a motor-driven base for several gating windows; 2) measurement of time delay using an oscilloscope; 3) positional verification of sinusoidal patterns and the pattern in the case of a lung cancer patient; 4) measurement of the half-value layer (HVL in mm AL), effective kVp, and air kerma, using a solid-state detector for each fluoroscopic condition, to determine the patient dose. The dose profile in a moving phantom with gated radiotherapy having a gating window ≤ 4 mm was in good agreement with that under static conditions for each photon beam. The total time delay between TrueBeam and SyncTraX was lung cancer patient. The air-kerma rates from one fluoroscopy direction were 1.93 ± 0.01, 2.86 ± 0.01, 3.92 ± 0.04, 5.28 ± 0.03, and 6.60 ± 0.05 mGy/min for 70, 80, 90, 100, and 110 kV X-ray beams at 80 mA, respectively. The combined system comprising TrueBeam and SyncTraX could track the motion of the fiducial marker and control radiation delivery with reasonable accuracy; therefore, this system provides significant dosimetric improvement. However, patient exposure dose from fluoroscopy was not clinically negligible. PMID:27455483

  2. Real time psychrometric data collection

    International Nuclear Information System (INIS)

    Eight Mine Weather Stations (MWS) installed at the Waste Isolation Pilot Plant (WIPP) to monitor the underground ventilation system are helping to simulate real-time ventilation scenarios. Seasonal weather extremes can result in variations of Natural Ventilation Pressure (NVP) which can significantly effect the ventilation system. The eight MWS(s) (which previously collected and stored temperature, barometric pressure and relative humidity data for subsequent NVP calculations) were upgraded to provide continuous real-time data to the site wide Central monitoring System. This data can now be utilized by the ventilation engineer to create realtime ventilation simulations and trends which assist in the prediction and mitigation of NVP and psychrometric related events

  3. Real Time Network Traffic Monitoring

    OpenAIRE

    Tripp, Gerald

    1999-01-01

    This paper looks at the problems of real time network traffic monitoring. Some of the existing approaches are reviewed, looking at both simple filtering systems and also systems based on the use of finite state machines that can report specific events or capture data only when in particular states. Finally, some existing implementation techniques are examined and an outline proposal made for the design of a network monitoring system that uses finite state machines implemented using associativ...

  4. Real time water chemistry monitoring and diagnostics

    International Nuclear Information System (INIS)

    EPRI has produced a real time water chemistry monitoring and diagnostic system. This system is called SMART ChemWorks and is based on the EPRI ChemWorks codes. System models, chemistry parameter relationships and diagnostic approaches from these codes are integrated with real time data collection, an intelligence engine and Internet technologies to allow for automated analysis of system chemistry. Significant data management capabilities are also included which allow the user to evaluate data and create automated reporting. Additional features have been added to the system in recent years including tracking and evaluation of primary chemistry as well as the calculation and tracking of primary to secondary leakage in PWRs. This system performs virtual sensing, identifies normal and upset conditions, and evaluates the consistency of on-line monitor and grab sample readings. The system also makes use of virtual fingerprinting to identify the cause of any chemistry upsets. This technology employs plant-specific data and models to determine the chemical state of the steam cycle. (authors)

  5. [Real time 3D echocardiography

    Science.gov (United States)

    Bauer, F.; Shiota, T.; Thomas, J. D.

    2001-01-01

    Three-dimensional representation of the heart is an old concern. Usually, 3D reconstruction of the cardiac mass is made by successive acquisition of 2D sections, the spatial localisation and orientation of which require complex guiding systems. More recently, the concept of volumetric acquisition has been introduced. A matricial emitter-receiver probe complex with parallel data processing provides instantaneous of a pyramidal 64 degrees x 64 degrees volume. The image is restituted in real time and is composed of 3 planes (planes B and C) which can be displaced in all spatial directions at any time during acquisition. The flexibility of this system of acquisition allows volume and mass measurement with greater accuracy and reproducibility, limiting inter-observer variability. Free navigation of the planes of investigation allows reconstruction for qualitative and quantitative analysis of valvular heart disease and other pathologies. Although real time 3D echocardiography is ready for clinical usage, some improvements are still necessary to improve its conviviality. Then real time 3D echocardiography could be the essential tool for understanding, diagnosis and management of patients.

  6. An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances

    CERN Document Server

    Zhang, Jian Yuan Wen-Xia

    2012-01-01

    The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solving the Riccati equations and matrix equations. The existence and uniqueness condition of feedforward-feedback optimal control law is proposed and the optimal control law algorithm is carried out. Lastly, simulations show the result is effectiveness with respect to external persistent disturbances and noise.

  7. Real-time estimation of wildfire perimeters from curated crowdsourcing

    OpenAIRE

    Zhong, Xu; Duckham, Matt; Chong, Derek; Tolhurst, Kevin

    2016-01-01

    Real-time information about the spatial extents of evolving natural disasters, such as wildfire or flood perimeters, can assist both emergency responders and the general public during an emergency. However, authoritative information sources can suffer from bottlenecks and delays, while user-generated social media data usually lacks the necessary structure and trustworthiness for reliable automated processing. This paper describes and evaluates an automated technique for real-time tracking of ...

  8. Architecture of the SOFIT autonomous system for processing images from track chambers

    International Nuclear Information System (INIS)

    The problems of designing automated systems for measurements and analysis of photo images of particle tracks detected in bubble and spark chambers. The SOFIT system used for processing data from the track chambers is described. The system is based on the PUOS-type scanning measuring projector and EhLEKTRONIKA-60 microcomouter. Incorporation of the microcomputer directly in the electronic equipment of the measuring system permits to consecutively improve the system technical characteristics by means of stage-by-stage automation of processes controlling measuring carriages, tape-drive and illuminators. Electronic units of the system are performed on the K155 series microcirccuits. The system programming and performance capabilities enable to construct autonomous systems based on recent scanning measuring tables with diffraction gratings

  9. Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot.

    Science.gov (United States)

    Amini Khoiy, Keyvan; Mirbagheri, Alireza; Farahmand, Farzam

    2016-06-01

    Background An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery. Material and methods The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image. Results Assessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms. Conclusion It was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations. PMID:26872883

  10. A comparison of two clinical correlation models used for real-time tumor tracking of semi-periodic motion: A focus on geometrical accuracy in lung and liver cancer patients

    International Nuclear Information System (INIS)

    Purpose: A head-to-head comparison of two clinical correlation models with a focus on geometrical accuracy for internal tumor motion estimation during real-time tumor tracking (RTTT). Methods and materials: Both the CyberKnife (CK) and the Vero systems perform RTTT with a correlation model that is able to describe hysteresis in the breathing motion. The CK dual-quadratic (DQ) model consists of two polynomial functions describing the trajectory of the tumor for inhale and exhale breathing motion, respectively. The Vero model is based on a two-dimensional (2D) function depending on position and speed of the external breathing signal to describe a closed-loop tumor trajectory. In this study, 20 s of internal motion data, using an 11 Hz (on average) full fluoroscopy (FF) sequence, was used for training of the CK and Vero models. Further, a subsampled set of 15 internal tumor positions (15p) equally spread over the different phases of the breathing motion was used for separate training of the CK DQ model. Also a linear model was trained using 15p and FF tumor motion data. Fifteen liver and lung cancer patients, treated on the Vero system with RTTT, were retrospectively evaluated comparing the CK FF, CK 15p and Vero FF models using an in-house developed simulator. The distance between estimated target position and the tumor position localized by X-ray imaging was measured in the beams-eye view (BEV) to calculate the 95th percentile BEV modeling errors (ME95,BEV). Additionally, the percentage of ME95,BEV smaller than 5 mm (P5mm) was determined for all correlation models. Results: In general, no significant difference (p > 0.05, paired t-test) was found between the CK FF and Vero models. Based on patient-specific evaluation of the geometrical accuracy of the linear, CK DQ and Vero correlation models, no statistical necessity (p > 0.05, two-way ANOVA) of including hysteresis in correlation models was proven, although during inhale breathing motion, the linear model resulted

  11. Real time automatic scene classification

    OpenAIRE

    Israël, Menno; Broek, van den, Wouter; Putten, van, M.J.A.M.; Uyl, den, T.M.; Verbrugge, R.; Taatgen, N.; Schomaker, L.

    2004-01-01

    This work has been done as part of the EU VICAR (IST) project and the EU SCOFI project (IAP). The aim of the first project was to develop a real time video indexing classification annotation and retrieval system. For our systems, we have adapted the approach of Picard and Minka [3], who categorized elements of a scene automatically with so-called ’stuff’ categories (e.g., grass, sky, sand, stone). Campbell et al. [1] use similar concepts to describe certain parts of an image, which they named...

  12. Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

    Science.gov (United States)

    Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

    2016-01-01

    The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route. PMID:27556465

  13. Real-time Visual Tracking of Multiple Targets Using Bootstrap Importance Sampling%自助重要性采样用于实时多目标视觉跟踪

    Institute of Scientific and Technical Information of China (English)

    沈乐君; 游志胜; 李晓峰

    2012-01-01

    number of likelihood computations. Thirdly, a new marginalization technology is presented, which uses an auxiliary variable sampler to obtain marginal samples and bootstrap based histogram for density estimation. The experiments show that the proposed method can track multiple targets in real-time, handle the complex interaction and maintain multi-modalities even the objects disappear.

  14. A Novel Bioinspired Vision System: A Step toward Real-Time Human-Robot Interactions

    Directory of Open Access Journals (Sweden)

    Abdul Rahman Hafiz

    2011-01-01

    Full Text Available Building a human-like robot that could be involved in our daily lives is a dream of many scientists. Achieving a sophisticated robot's vision system, which can enhance the robot's real-time interaction ability with the human, is one of the main keys toward realizing such an autonomous robot. In this work, we are suggesting a bioinspired vision system that helps to develop an advanced human-robot interaction in an autonomous humanoid robot. First, we enhance the robot's vision accuracy online by applying a novel dynamic edge detection algorithm abstracted from the rules that the horizontal cells play in the mammalian retina. Second, in order to support the first algorithm, we improve the robot's tracking ability by designing a variant photoreceptors distribution corresponding to what exists in the human vision system. The experimental results verified the validity of the model. The robot could have a clear vision in real time and build a mental map that assisted it to be aware of the frontal users and to develop a positive interaction with them.

  15. REAL TIME DATA PROCESSING FRAMEWORKS

    Directory of Open Access Journals (Sweden)

    Yash Sakaria

    2015-09-01

    Full Text Available On a business level, everyone wants to get hold of the business value and other organizational advantages that big data has to offer. Analytics has arisen as the primitive path to business value from big data. Hadoop is not just a storage platform for big data; it’s also a computational and processing platform for business analytics. Hadoop is, however, unsuccessful in fulfilling business requirements when it comes to live data streaming. The initial architecture of Apache Hadoop did not solve the problem of live stream data mining. In summary, the traditional approach of big data being co-relational to Hadoop is false; focus needs to be given on business value as well. Data Warehousing, Hadoop and stream processing complement each other very well. In this paper, we have tried reviewing a few frameworks and products which use real time data streaming by providing modifications to Hadoop.

  16. Kalman Filtering with Real-Time Applications

    CERN Document Server

    Chui, Charles K

    2009-01-01

    Kalman Filtering with Real-Time Applications presents a thorough discussion of the mathematical theory and computational schemes of Kalman filtering. The filtering algorithms are derived via different approaches, including a direct method consisting of a series of elementary steps, and an indirect method based on innovation projection. Other topics include Kalman filtering for systems with correlated noise or colored noise, limiting Kalman filtering for time-invariant systems, extended Kalman filtering for nonlinear systems, interval Kalman filtering for uncertain systems, and wavelet Kalman filtering for multiresolution analysis of random signals. Most filtering algorithms are illustrated by using simplified radar tracking examples. The style of the book is informal, and the mathematics is elementary but rigorous. The text is self-contained, suitable for self-study, and accessible to all readers with a minimum knowledge of linear algebra, probability theory, and system engineering.

  17. Application of learning pallets for real-time scheduling by use of artificial neural network

    OpenAIRE

    Mehrsai, A.; Karimi, Hamid Reza; Rügge, I.; B. Scholz-Reiter

    2011-01-01

    Generally, this paper deals with the problem of autonomy in logistics. Specifically here, a complex problem in inbound logistics is considered as real-time scheduling in a stochastic shop floor problem. Recently, in order to comply with real-time decisions, autonomous logistic objects have been suggested as an alternative. Since pallets are common used objects in carrying materials (finished or semi-finished), so they have the possibility to undertake the responsibility of real time dispatchi...

  18. Eye-Tracking, Autonomic, and Electrophysiological Correlates of Emotional Face Processing in Adolescents with Autism Spectrum Disorder

    Science.gov (United States)

    Wagner, Jennifer B.; Hirsch, Suzanna B.; Vogel-Farley, Vanessa K.; Redcay, Elizabeth; Nelson, Charles A.

    2013-01-01

    Individuals with autism spectrum disorder (ASD) often have difficulty with social-emotional cues. This study examined the neural, behavioral, and autonomic correlates of emotional face processing in adolescents with ASD and typical development (TD) using eye-tracking and event-related potentials (ERPs) across two different paradigms. Scanning of…

  19. Real-time locating systems (RTLS) in healthcare: a condensed primer

    OpenAIRE

    Kamel Boulos Maged N; Berry Geoff

    2012-01-01

    Abstract Real-time locating systems (RTLS, also known as real-time location systems) have become an important component of many existing ubiquitous location aware systems. While GPS (global positioning system) has been quite successful as an outdoor real-time locating solution, it fails to repeat this success indoors. A number of RTLS technologies have been used to solve indoor tracking problems. The ability to accurately track the location of assets and individuals indoors has many applicati...

  20. Real-time locating systems (RTLS) in healthcare: a condensed primer

    OpenAIRE

    Kamel Boulos, Maged N; Berry, Geoff

    2012-01-01

    Real-time locating systems (RTLS, also known as real-time location systems) have become an important component of many existing ubiquitous location aware systems. While GPS (global positioning system) has been quite successful as an outdoor real-time locating solution, it fails to repeat this success indoors. A number of RTLS technologies have been used to solve indoor tracking problems. The ability to accurately track the location of assets and individuals indoors has many applications in he...

  1. Wide area surveillance real-time motion detection systems

    CERN Document Server

    2014-01-01

    The book describes a system for visual surveillance using intelligent cameras. The camera uses robust techniques for detecting and tracking moving objects. The real time capture of the objects is then stored int he database. The tracking data stored in the database is analysed to study the camera view, detect and track objects, and study object behavior. These set of models provide a robust framework for coordinating the tracking of objects between overlapping and non-overlapping cameras, and recording the activity of objects detected by the system.

  2. TRACING REAL TIME LOCATION OF A FRIEND IN MOBILE SYSTEM

    Directory of Open Access Journals (Sweden)

    SUNIL L. BANGARE

    2012-03-01

    Full Text Available The application of this project is to track a number of people even in crowded natural environments. A system of this sort would be useful in a number of applications, such as human-computer interaction, surveillance, and mobile robots that work among people. The robustness of the system will be able to operate even with partialocclusions of the subjects, and recover from tracking errors where a subject is temporarily lost. Finally, the techniques will be implemented on standard available hardware, and run fast enough to track in real time mobile system. It can be used to assist users in tracking colleagues and friends within a campus environment.

  3. Mobile real time radiography system

    Energy Technology Data Exchange (ETDEWEB)

    Vigil, J.; Taggart, D.; Betts, S. [Los Alamos National Lab., NM (United States)] [and others

    1997-11-01

    A 450-keV Mobile Real Time Radiography (RTR) System was delivered to Los Alamos National Laboratory (LANL) in January 1996. It was purchased to inspect containers of radioactive waste produced at (LANL). Since its delivery it has been used to radiograph more than 600 drums of radioactive waste at various LANL sites. It has the capability of inspecting waste containers of various sizes from <1-gal. buckets up to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). It has three independent x-ray acquisition formats. The primary system used is a 12- in. image intensifier, the second is a 36-in. linear diode array (LDA) and the last is an open system. It is fully self contained with on board generator, HVAC, and a fire suppression system. It is on a 53-ft long x 8-ft. wide x 14-ft. high trailer that can be moved over any highway requiring only an easily obtainable overweight permit because it weights {approximately}38 tons. It was built to conform to industry standards for a cabinet system which does not require an exclusion zone. The fact that this unit is mobile has allowed us to operate where the waste is stored, rather than having to move the waste to a fixed facility.

  4. A real time monitoring system

    International Nuclear Information System (INIS)

    A real time monitoring system is described. It was initially developed to be used as a man-machine interface between a basic principles simulator of the Embalse Nuclear Power Plant and the operators. This simulator is under construction at the Bariloche Atomic Center's Process Control Division. Due to great design flexibility, this system can also be used in real plants. The system is designed to be run on a PC XT or AT personal computer with high resolution graphics capabilities. Three interrelated programs compose the system: 1) Graphics Editor, to build static image to be used as a reference frame where to show dynamically updated data. 2) Data acquisition and storage module. It is a memory resident module to acquire and store data in background. Data can be acquired and stored without interference with the operating system, via serial port or through analog-to-digital converter attached to the personal computer. 3) Display module. It shows the acquired data according to commands received from configuration files prepared by the operator. (Author)

  5. Mobile real time radiography system

    International Nuclear Information System (INIS)

    A 450-keV Mobile Real Time Radiography (RTR) System was delivered to Los Alamos National Laboratory (LANL) in January 1996. It was purchased to inspect containers of radioactive waste produced at (LANL). Since its delivery it has been used to radiograph more than 600 drums of radioactive waste at various LANL sites. It has the capability of inspecting waste containers of various sizes from <1-gal. buckets up to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). It has three independent x-ray acquisition formats. The primary system used is a 12- in. image intensifier, the second is a 36-in. linear diode array (LDA) and the last is an open system. It is fully self contained with on board generator, HVAC, and a fire suppression system. It is on a 53-ft long x 8-ft. wide x 14-ft. high trailer that can be moved over any highway requiring only an easily obtainable overweight permit because it weights ∼38 tons. It was built to conform to industry standards for a cabinet system which does not require an exclusion zone. The fact that this unit is mobile has allowed us to operate where the waste is stored, rather than having to move the waste to a fixed facility

  6. Real-time petroleum spill detection system

    International Nuclear Information System (INIS)

    A real-time autonomous oil and fuel spill detection system has been developed to rapidly detect of a wide range of petroleum products floating on, or suspended in water. The system consists of an array of spill detection buoys distributed within the area to be monitored. The buoys are composed of a float and a multispectral fluorometer, which looks up through the top 5 cm of water to detect floating and suspended petroleum products. The buoys communicate to a base station computer that controls the sampling of the buoys and analyses the data from each buoy to determine if a spill has occurred. If statistically significant background petroleum levels are detected, the system raises an oil spill alarm. The system is useful because early detection of a marine oil spill allows for faster containment, thereby minimizing the contaminated area and reducing cleanup costs. This paper also provided test results for biofouling, various petroleum product detection, water turbidity and wave tolerance. The technology has been successfully demonstrated. The UV light source keeps the optic window free from biofouling, and the electronics are fully submerged so there is no risk that the unit could ignite the vapours of a potential oil spill. The system can also tolerate moderately turbid waters and can therefore be used in many rivers, harbours, water intakes and sumps. The system can detect petroleum products with an average thickness of less than 3 micrometers floating on the water surface. 3 refs., 15 figs

  7. Handheld real-time PCR device.

    Science.gov (United States)

    Ahrberg, Christian D; Ilic, Bojan Robert; Manz, Andreas; Neužil, Pavel

    2016-01-26

    Here we report one of the smallest real-time polymerase chain reaction (PCR) systems to date with an approximate size of 100 mm × 60 mm × 33 mm. The system is an autonomous unit requiring an external 12 V power supply. Four simultaneous reactions are performed in the form of virtual reaction chambers (VRCs) where a ≈200 nL sample is covered with mineral oil and placed on a glass cover slip. Fast, 40 cycle amplification of an amplicon from the H7N9 gene was used to demonstrate the PCR performance. The standard curve slope was -3.02 ± 0.16 cycles at threshold per decade (mean ± standard deviation) corresponding to an amplification efficiency of 0.91 ± 0.05 per cycle (mean ± standard deviation). The PCR device was capable of detecting a single deoxyribonucleic acid (DNA) copy. These results further suggest that our handheld PCR device may have broad, technologically-relevant applications extending to rapid detection of infectious diseases in small clinics. PMID:26753557

  8. The Fast Tracker Real Time Processor

    CERN Document Server

    Annovi, A; The ATLAS collaboration

    2011-01-01

    As the LHC luminosity is ramped up to the SLHC Phase I level and beyond, the high rates, multiplicities, and energies of particles seen by the detectors will pose a unique challenge. Only a tiny fraction of the produced collisions can be stored on tape and immense real-time data reduction is needed. An effective trigger system must maintain high trigger efficiencies for the physics we are most interested in, and at the same time suppress the enormous QCD backgrounds. This requires massive computing power to minimize the online execution time of complex algorithms. A multi-level trigger is an effective solution for an otherwise impossible problem. The Fast Tracker (FTK)[1], is a proposed upgrade to the current ATLAS trigger system that will operate at full Level-1 output rates and provide high quality tracks reconstructed over the entire detector by the start of processing in Level-2. FTK solves the combinatorial challenge inherent to tracking by exploiting massive parallelism of associative memories [2] that ...

  9. Real-time simulation of thermal shadows with EMIT

    Science.gov (United States)

    Klein, Andreas; Oberhofer, Stefan; Schätz, Peter; Nischwitz, Alfred; Obermeier, Paul

    2016-05-01

    Modern missile systems use infrared imaging for tracking or target detection algorithms. The development and validation processes of these missile systems need high fidelity simulations capable of stimulating the sensors in real-time with infrared image sequences from a synthetic 3D environment. The Extensible Multispectral Image Generation Toolset (EMIT) is a modular software library developed at MBDA Germany for the generation of physics-based infrared images in real-time. EMIT is able to render radiance images in full 32-bit floating point precision using state of the art computer graphics cards and advanced shader programs. An important functionality of an infrared image generation toolset is the simulation of thermal shadows as these may cause matching errors in tracking algorithms. However, for real-time simulations, such as hardware in the loop simulations (HWIL) of infrared seekers, thermal shadows are often neglected or precomputed as they require a thermal balance calculation in four-dimensions (3D geometry in one-dimensional time up to several hours in the past). In this paper we will show the novel real-time thermal simulation of EMIT. Our thermal simulation is capable of simulating thermal effects in real-time environments, such as thermal shadows resulting from the occlusion of direct and indirect irradiance. We conclude our paper with the practical use of EMIT in a missile HWIL simulation.

  10. Real-time image fusion involving diagnostic ultrasound

    DEFF Research Database (Denmark)

    Ewertsen, Caroline; Săftoiu, Adrian; Gruionu, Lucian G;

    2013-01-01

    The aim of our article is to give an overview of the current and future possibilities of real-time image fusion involving ultrasound. We present a review of the existing English-language peer-reviewed literature assessing this technique, which covers technical solutions (for ultrasound and endosc......The aim of our article is to give an overview of the current and future possibilities of real-time image fusion involving ultrasound. We present a review of the existing English-language peer-reviewed literature assessing this technique, which covers technical solutions (for ultrasound...... and endoscopic ultrasound), image fusion in several anatomic regions, and electromagnetic needle tracking....

  11. Near Real Time Processing Chain for Suomi NPP Satellite Data

    Science.gov (United States)

    Monsorno, Roberto; Cuozzo, Giovanni; Costa, Armin; Mateescu, Gabriel; Ventura, Bartolomeo; Zebisch, Marc

    2014-05-01

    Since 2009, the EURAC satellite receiving station, located at Corno del Renon, in a free obstacle site at 2260 m a.s.l., has been acquiring data from Aqua and Terra NASA satellites equipped with Moderate Resolution Imaging Spectroradiometer (MODIS) sensors. The experience gained with this local ground segmenthas given the opportunity of adapting and modifying the processing chain for MODIS data to the Suomi NPP, the natural successor to Terra and Aqua satellites. The processing chain, initially implemented by mean of a proprietary system supplied by Seaspace and Advanced Computer System, was further developed by EURAC's Institute for Applied Remote Sensing engineers. Several algorithms have been developed using MODIS and Visible Infrared Imaging Radiometer Suite (VIIRS) data to produce Snow Cover, Particulate Matter estimation and Meteo maps. These products are implemented on a common processor structure based on the use of configuration files and a generic processor. Data and products have then automatically delivered to the customers such as the Autonomous Province of Bolzano-Civil Protection office. For the processing phase we defined two goals: i) the adaptation and implementation of the products already available for MODIS (and possibly new ones) to VIIRS, that is one of the sensors onboard Suomi NPP; ii) the use of an open source processing chain in order to process NPP data in Near Real Time, exploiting the knowledge we acquired on parallel computing. In order to achieve the second goal, the S-NPP data received and ingested are sent as input to RT-STPS (Real-time Software Telemetry Processing System) software developed by the NASA Direct Readout Laboratory 1 (DRL) that gives as output RDR files (Raw Data Record) for VIIRS, ATMS (Advanced Technology Micorwave Sounder) and CrIS (Cross-track Infrared Sounder)sensors. RDR are then transferred to a server equipped with CSPP2 (Community Satellite Processing Package) software developed by the University of

  12. Modular specification of real-time systems

    DEFF Research Database (Denmark)

    Inal, Recep

    Duration Calculus, a real-time interval logic, has been embedded in the Z specification language to provide a notation for real-time systems that combines the modularisation and abstraction facilities of Z with a logic suitable for reasoning about real-time properties. In this article the notation...... is presented through a top-level specification of requirements for a simple air traffic monitoring system, and reasoning is illustrated by a refinement towards a design...

  13. Modular specification of real-time systems

    OpenAIRE

    Inal, Recep

    1994-01-01

    Duration Calculus, a real-time interval logic, has been embedded in the Z specification language to provide a notation for real-time systems that combines the modularisation and abstraction facilities of Z with a logic suitable for reasoning about real-time properties. In this article the notation is presented through a top-level specification of requirements for a simple air traffic monitoring system, and reasoning is illustrated by a refinement towards a design

  14. Archtecture of distributed real-time systems

    OpenAIRE

    Wing Leung, Cheuk

    2013-01-01

    CRAFTERS (Constraint and Application Driven Framework for Tailoring Embedded Real-time System) project aims to address the problem of uncertainty and heterogeneity in a distributed system by providing seamless, portable connectivity and middleware. This thesis contributes to the project by investigating the techniques that can be used in a distributed real-time embedded system. The conclusion is that, there is a list of specifications to be meet in order to provide a transparent and real-time...

  15. Real-time Transmission Over Internet

    OpenAIRE

    Gao, Qi

    2004-01-01

    With the Internet expansion, real-time transmission over Internet is becoming a new promising application. Successful real-time communication over IP networks requires reasonably reliable, low delay, low loss date transport. Since Internet is a non-synchronous packet switching network, high load and lack of guarantees on data delivery make real-time communication such as Voice and Video over IP a challenging application to become realistic on the Internet. This thesis work is composed of two...

  16. Real-time beamforming synthetic aperture radar

    Science.gov (United States)

    Rincon, Rafael; Hildebrand, Peter; Hilliard, Lawrence; Bradley, Damon; Krnan, Luko; Sheikh, Salman; Lucey, Jared

    2006-09-01

    This paper discusses the concept and design of a real-time Digital Beamforming Synthetic Aperture Radar (DBSAR) for airborne applications which can achieve fine spatial resolutions and wide swaths. The development of the DBSAR enhances important scientific measurements in Earth science, and serves as a prove-of-concept for planetary exploration missions. A unique aspect of DBSAR is that it achieves fine resolutions over large swaths by synthesizing multiple cross-track beams simultaneously using digital beamforming techniques. Each beam is processed using SAR algorithms to obtain the fine ground resolution without compromising fine range and azimuth resolutions. The processor uses an FPGA-based architecture to implement digital in-phase and quadrature (I/Q) demodulation, beamforming, and range and azimuth compression. The DBSAR concept will be implemented using the airborne L-Band Imaging Scatterometer (LIS) on board the NASA P3 aircraft. The system will achieve ground resolutions of less than 30 m and swaths of 10 km from an altitude of 8 km.

  17. Real-time Flavor Tagging in ATLAS:

    CERN Document Server

    Alison, John; The ATLAS collaboration

    2015-01-01

    In high-energy physics experiments, online selection is crucial to select interesting collisions from the large data volume. ATLAS b-jet and tau triggers are designed to identify heavy-flavour content in real-time and provide the only option to efficiently record events with fully hadronic final states containing b-jets or hadronic tau decays. In doing so, two different, but related, challenges are faced. The physics goal is to optimise as far as possible the rejection of light jets, while retaining a high efficiency on selecting b-jets or hadronic taus and maintaining affordable trigger rates without raising jet energy thresholds. This maps into a challenging computing task, as tracks and their corresponding vertices must be reconstructed and analysed for each jet above the desired threshold, regardless of the increasingly harsh pile-up conditions. We present an overview of the ATLAS strategy for online b-jet and tau selection for the LHC Run 2, including the use of novel methods and sophisticated algorithms...

  18. Real Time Health Monitoring Using GPRS Technology

    Directory of Open Access Journals (Sweden)

    Shubhangi M. Verulkar

    2012-06-01

    Full Text Available Advances in sensor technology, personal mobile devices, andwireless broadband communications are enabling thedevelopment of an integrated personal mobile healthmonitoring system that can provide patients with a usefultool to assess their own health and manage their personalhealth information anytime and anywhere. Personal mobiledevices, such as PDAs and mobile phones, are becomingmore powerful integrated information management tools andplay a major role in many people's lives. Here I focus ondesigning a Mobile health-monitoring system for people whostay alone at home or suffering from Heart Disease. Thissystem presents a complete unified and mobile platformbased connectivity solution for unobtrusive healthmonitoring. Developing a hardware which will sense heartrate and temperature of a patient, using Bluetooth modem allinformation lively transmitted to smart phone, from smartphone all information transmitted to server using GPRS. Atserver the received data compared with the standardthreshold minimum and maximum value. The normal rangeof heart rate is 60 to 135 and the temperature of the patient issaid to be normal above 95^F and below 104^F. If at all therate increases above 145 or decreases below 55,it may befatal and if it crossed this threshold limit then SMS will besent to the relative of patient and Doctors along withmeasured values.The build-in GPS further provides the position informationof the monitored person. The remote server not only collectsphysiological measurements but also tracks the position ofthe monitored person in real time.For transmitting data from Smartphone to the server usingGPRS, here we need to create a website on data will becontinuously transmitted from Smartphone to the website andfrom website data will be downloaded continuously on theserver.Thus the system helps in tracking down the patient withoutgetting the patient into any sort of communication. Unduemishaps can be avoided within the golden hours after apatient

  19. Real-time graphics rendering engine

    CERN Document Server

    Bao, Hujun

    2011-01-01

    ""Real-Time Graphics Rendering Engine"" reveals the software architecture of the modern real-time 3D graphics rendering engine and the relevant technologies based on the authors' experience developing this high-performance, real-time system. The relevant knowledge about real-time graphics rendering such as the rendering pipeline, the visual appearance and shading and lighting models are also introduced. This book is intended to offer well-founded guidance for researchers and developers who are interested in building their own rendering engines. Hujun Bao is a professor at the State Key Lab of

  20. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare eects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction to...... Bertrand case, welfare is the same with all or no consumers on smart meters....... satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power. In the...

  1. Research in Distributed Real-Time Systems

    Science.gov (United States)

    Mukkamala, R.

    1997-01-01

    This document summarizes the progress we have made on our study of issues concerning the schedulability of real-time systems. Our study has produced several results in the scalability issues of distributed real-time systems. In particular, we have used our techniques to resolve schedulability issues in distributed systems with end-to-end requirements. During the next year (1997-98), we propose to extend the current work to address the modeling and workload characterization issues in distributed real-time systems. In particular, we propose to investigate the effect of different workload models and component models on the design and the subsequent performance of distributed real-time systems.

  2. De toekomst van Real Time Intelligence

    OpenAIRE

    Broek, J. van den; Berg, C.H. van den

    2013-01-01

    Al direct vanaf de start van de Nationale Politie is gewerkt aan het opzetten van tien real-time intelligence centra in Nederland. Van daaruit worden 24 uur per dag en zeven dagen in de week agenten op straat actief ondersteund met real-time informatie bij de melding waar ze op af gaan. In de visie van TNO is de kracht van real-time intelligence, dat het bijdraagt aan het creëren van een beter beeld van de situatie waarin ingegrepen moet worden. Real-time intelligence kan op die manier een gr...

  3. Model Checking Real Time Java Using Java PathFinder

    Science.gov (United States)

    Lindstrom, Gary; Mehlitz, Peter C.; Visser, Willem

    2005-01-01

    The Real Time Specification for Java (RTSJ) is an augmentation of Java for real time applications of various degrees of hardness. The central features of RTSJ are real time threads; user defined schedulers; asynchronous events, handlers, and control transfers; a priority inheritance based default scheduler; non-heap memory areas such as immortal and scoped, and non-heap real time threads whose execution is not impeded by garbage collection. The Robust Software Systems group at NASA Ames Research Center has JAVA PATHFINDER (JPF) under development, a Java model checker. JPF at its core is a state exploring JVM which can examine alternative paths in a Java program (e.g., via backtracking) by trying all nondeterministic choices, including thread scheduling order. This paper describes our implementation of an RTSJ profile (subset) in JPF, including requirements, design decisions, and current implementation status. Two examples are analyzed: jobs on a multiprogramming operating system, and a complex resource contention example involving autonomous vehicles crossing an intersection. The utility of JPF in finding logic and timing errors is illustrated, and the remaining challenges in supporting all of RTSJ are assessed.

  4. Learning in Real-Time Search: A Unifying Framework

    CERN Document Server

    Bulitko, V; 10.1613/jair.1789

    2011-01-01

    Real-time search methods are suited for tasks in which the agent is interacting with an initially unknown environment in real time. In such simultaneous planning and learning problems, the agent has to select its actions in a limited amount of time, while sensing only a local part of the environment centered at the agents current location. Real-time heuristic search agents select actions using a limited lookahead search and evaluating the frontier states with a heuristic function. Over repeated experiences, they refine heuristic values of states to avoid infinite loops and to converge to better solutions. The wide spread of such settings in autonomous software and hardware agents has led to an explosion of real-time search algorithms over the last two decades. Not only is a potential user confronted with a hodgepodge of algorithms, but he also faces the choice of control parameters they use. In this paper we address both problems. The first contribution is an introduction of a simple three-parameter framework...

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

    Science.gov (United States)

    Talukder, Ashit; Matthies, Larry

    2004-01-01

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

  6. Recognition and automatic tracking of weld line in fringe welding by autonomous mobile robot with visual sensor

    International Nuclear Information System (INIS)

    An autonomous mobile robot with visual sensor and four driving axes for welding of pipe and fringe was constructed. The robot can move along a pipe, and detect the weld line to be welded by visual sensor. Moreover, in order to perform welding automatically, the tip of welding torch can track the weld line of the joint by rotating the robot head. In the case of welding of pipe and fringe, the robot can detect the contact angle between the two base metals to be welded, and the torch angle changes according to the contact angle. As the result of tracking test by the robot system, it was made clear that the recognition of geometry of the joint by the laser lighting method and automatic tracking of weld line were possible. The average tracking error was ±0.3 mm approximately and the torch angle could be always kept at the optimum angle. (author)

  7. Robust visual detection and tracking of complex objects : applications to space autonomous rendez-vous and proximity operations

    OpenAIRE

    Petit, Antoine

    2013-01-01

    In this thesis, we address the issue of fully localizing a known object through computer vision, using a monocular camera, what is a central problem in robotics. A particular attention is here paid on space robotics applications, with the aims of providing a unified visual localization system for autonomous navigation purposes for space rendezvous and proximity operations. Two main challenges of the problem are tackled: initially detecting the targeted object and then tracking it frame-by-fra...

  8. Eye-Tracking, Autonomic, and Electrophysiological Correlates of Emotional Face Processing in Adolescents with Autism Spectrum Disorder

    OpenAIRE

    Wagner, Jennifer B.; Hirsch, Suzanna B.; Vogel-Farley, Vanessa K.; Redcay, Elizabeth; Nelson, Charles A.

    2013-01-01

    Individuals with autism spectrum disorder (ASD) often have difficulty with social-emotional cues. This study examined the neural, behavioral, and autonomic correlates of emotional face processing in adolescents with ASD and typical development (TD) using eye-tracking and event-related potentials (ERPs) across two different paradigms. Scanning of faces was similar across groups in the first task, but the second task found that face-sensitive ERPs varied with emotional expressions only in TD. F...

  9. Autonomous Ground Vehicle Path Planning for Autocross Tracks: Optimal vs an Efficient Bézier Curve Path

    OpenAIRE

    Ash, John Patrick

    2015-01-01

    This thesis proposes a computationally efficient path planning algorithm for an autonomous ground vehicle. A Bézier curve solution is proposed that maintains G2 continuity throughout the track. A dynamic programming algorithm plans two initial paths through the course. The first path minimizes the maximum curvature (MMC), while the second path minimizes the distance traveled. By blending the MMC and shortest paths a pseudo-optimal path is calculated based on the vehicle dynamics. The pseudo-o...

  10. Real-time oriented image analysis in microcirculatory research

    Science.gov (United States)

    Pries, Axel R.; Eriksson, S. E.; Jepsen, H.

    1990-11-01

    A digital video image analysis system is presented which consists of a personal computer equipped with a real-time video digitizer and a graphic tablet controlled by a modular set of programs aimed at performing a number of real-time oriented measuring tasks in microcirculatory research. Such tasks comprize the continuous recording of vessel diameters flow velocities or light intensity profiles from video recordings obtained during intravital microscopy of the terminal vascular bed either in research animals or in human beings. Two outstanding features of the presented systems are (A) the spatial correlation module for velocity measurement and (B) the automatic background movement correction. A: The spatial correlation velocity measurement module combined with an asymmetric illumination or gating process for image generation allows measurement of flow velocities from video microscopic images up to 20 mm/sec. This is about 10 to 20 times faster than the maximum. velocities which can be measured using conventional video based techniques. B: The automatic background movement correction is designed to track translational movements of background image structures in a reference window in real time (with respect to the video system). The translational vector of the image background is then used to adjust the position of the individual measuring lines or windows used in the different application modules to their original position relative to the tissue structures which are investigated. Such an automatic real-time tracking system isvery often a

  11. Real-Time Wireless Data Acquisition System

    Science.gov (United States)

    Valencia, Emilio J.; Perotti, Jose; Lucena, Angel; Mata, Carlos

    2007-01-01

    Current and future aerospace requirements demand the creation of a new breed of sensing devices, with emphasis on reduced weight, power consumption, and physical size. This new generation of sensors must possess a high degree of intelligence to provide critical data efficiently and in real-time. Intelligence will include self-calibration, self-health assessment, and pre-processing of raw data at the sensor level. Most of these features are already incorporated in the Wireless Sensors Network (SensorNet(TradeMark)), developed by the Instrumentation Group at Kennedy Space Center (KSC). A system based on the SensorNet(TradeMark) architecture consists of data collection point(s) called Central Stations (CS) and intelligent sensors called Remote Stations (RS) where one or more CSs can be accommodated depending on the specific application. The CS's major function is to establish communications with the Remote Stations and to poll each RS for data and health information. The CS also collects, stores and distributes these data to the appropriate systems requiring the information. The system has the ability to perform point-to-point, multi-point and relay mode communications with an autonomous self-diagnosis of each communications link. Upon detection of a communication failure, the system automatically reconfigures to establish new communication paths. These communication paths are automatically and autonomously selected as the best paths by the system based on the existing operating environment. The data acquisition system currently under development at KSC consists of the SensorNet(TradeMark) wireless sensors as the remote stations and the central station called the Radio Frequency Health Node (RFHN). The RFF1N is the central station which remotely communicates with the SensorNet(TradeMark) sensors to control them and to receive data. The system's salient feature is the ability to provide deterministic sensor data with accurate time stamps for both time critical and non

  12. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power. In the...

  13. Validation of RNAi by real time PCR

    DEFF Research Database (Denmark)

    Josefsen, Knud; Lee, Ying Chiu

    2011-01-01

    Real time PCR is the analytic tool of choice for quantification of gene expression, while RNAi is concerned with downregulation of gene expression. Together, they constitute a powerful approach in any loss of function studies of selective genes. We illustrate here the use of real time PCR to verify...

  14. A Real-time Network at Home

    NARCIS (Netherlands)

    Hanssen, Ferdy; Hartel, Pieter; Jansen, Pierre; Scholten, Hans; Vervoort, Wiek

    2001-01-01

    This paper proposes a home network which integrates both real-time and non-real-time capabilities for one coherent, distributed architecture. Such a network is not yet available. Our network will support inexpensive, small appliances as well as more expensive, large appliances. The network is based

  15. Storm real-time processing cookbook

    CERN Document Server

    Anderson, Quinton

    2013-01-01

    A Cookbook with plenty of practical recipes for different uses of Storm.If you are a Java developer with basic knowledge of real-time processing and would like to learn Storm to process unbounded streams of data in real time, then this book is for you.

  16. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare eects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction to...

  17. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare e ects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction to...

  18. Real time programming environment for Windows

    Energy Technology Data Exchange (ETDEWEB)

    LaBelle, D.R. [LaBelle (Dennis R.), Clifton Park, NY (United States)

    1998-04-01

    This document provides a description of the Real Time Programming Environment (RTProE). RTProE tools allow a programmer to create soft real time projects under general, multi-purpose operating systems. The basic features necessary for real time applications are provided by RTProE, leaving the programmer free to concentrate efforts on his specific project. The current version supports Microsoft Windows{trademark} 95 and NT. The tasks of real time synchronization and communication with other programs are handled by RTProE. RTProE includes a generic method for connecting a graphical user interface (GUI) to allow real time control and interaction with the programmer`s product. Topics covered in this paper include real time performance issues, portability, details of shared memory management, code scheduling, application control, Operating System specific concerns and the use of Computer Aided Software Engineering (CASE) tools. The development of RTProE is an important step in the expansion of the real time programming community. The financial costs associated with using the system are minimal. All source code for RTProE has been made publicly available. Any person with access to a personal computer, Windows 95 or NT, and C or FORTRAN compilers can quickly enter the world of real time modeling and simulation.

  19. Hybrid Multiprocessor Real-Time Scheduling Approach

    Directory of Open Access Journals (Sweden)

    Ali A Safaei

    2011-03-01

    Full Text Available Real-time scheduling is one of the most important aspects of a real-time system design. To achieve a real-time system's requirement, especially to be fast, multiprocessor systems are used. Generally, multiprocessor real-time scheduling algorithms fall into one the two well-known approaches: Partitioning or Global. The partitioning approach has acceptable overhead for underlying system but can NOT guarantee to provide an optimal schedule. The global approach can provide this guarantee by holding some preconditions and considerable overheads. In this paper, an intermediate hybrid multiprocessor real-time scheduling approach is proposed in which optimality will be reached via the minimum overheads for underlying system. Presenting and analyzing different feasible paradigms for combination of the two existing approaches, the proposed hybrid approach satisfies the two major goals of this combination: optimality and lightweightness. Experimental results show that the hybrid approach outperforms the two existing ones.

  20. Implementation of an Onboard Visual Tracking System with Small Unmanned Aerial Vehicle (UAV)

    OpenAIRE

    Qadir, Ashraf; Semke, William; Neubert, Jeremiah

    2012-01-01

    This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object or the camera. Detection and tracking is autonomously carried out on the payload computer and there are two different methods for creation of the image patches. The first method starts detecting and tracking using a stored image patch created prior to fligh...

  1. Dynamics of embryonic pancreas development using real-time imaging

    OpenAIRE

    Puri, Sapna; Hebrok, Matthias

    2007-01-01

    Current knowledge about developmental processes in complex organisms has relied almost exclusively on analyses of fixed specimens. However, organ growth is highly dynamic, and visualization of such dynamic processes, e.g. real-time tracking of cell movement and tissue morphogenesis, is becoming increasingly important. Here, we use live imaging to investigate expansion of the embryonic pancreatic epithelium in mouse. Using time-lapse imaging of tissue explants in culture, fluorescently labeled...

  2. Real-time Crane Control via PC

    OpenAIRE

    Arm, J

    2015-01-01

    In this paper, creation of SCADA system, which controls and monitors model of gantry crane in real time, is described. This crane will be controlled via process station communicating with PC via Modbus TCP protocol. Moreover, HTTP server will be created to monitor crane state over intranet. On this work, the difference between real-time and fast execution will be described and it will be shown on the built system that the fast execution system can behave like a real-time system under specific...

  3. Ada in Real-time Embedded System

    OpenAIRE

    Elnaz Ghodsvali; Rabee Sharifi Rad; Sima Sinaei

    2013-01-01

    Ada has an important role in the real-time/embedded/safety-critical areas. It is the only ISO-standard, object-oriented, concurrent, real-time programming language. Ada is used as a usual language for application areas such as defense embedded systems that reliability and efficiency are very essential. One of the main Ada’s characteristics in compare with other programming languages is that, Ada was developed from the ground up with capabilities that provide real-time requirements. In this st...

  4. Interactive Real-time Magnetic Resonance Imaging

    DEFF Research Database (Denmark)

    Brix, Lau

    Real-time acquisition, reconstruction and interactively changing the slice position using magnetic resonance imaging (MRI) have been possible for years. However, the current clinical use of interactive real-time MRI is limited due to an inherent low spatial and temporal resolution. This PhD project...... regard to optimal sampling strategy for detecting motion in four different anatomies on two different MRI scanner brands. A fully implemented interactive real-time MRI system was exploited in a group of healthy fetuses and proved its eligibility as an alternative diagnostic tool for fetal imaging...

  5. Multiprocessor scheduling for real-time systems

    CERN Document Server

    Baruah, Sanjoy; Buttazzo, Giorgio

    2015-01-01

    This book provides a comprehensive overview of both theoretical and pragmatic aspects of resource-allocation and scheduling in multiprocessor and multicore hard-real-time systems.  The authors derive new, abstract models of real-time tasks that capture accurately the salient features of real application systems that are to be implemented on multiprocessor platforms, and identify rules for mapping application systems onto the most appropriate models.  New run-time multiprocessor scheduling algorithms are presented, which are demonstrably better than those currently used, both in terms of run-time efficiency and tractability of off-line analysis.  Readers will benefit from a new design and analysis framework for multiprocessor real-time systems, which will translate into a significantly enhanced ability to provide formally verified, safety-critical real-time systems at a significantly lower cost.

  6. Visualization in Real-Time Experiment Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this project will be to migrate some of the outputs from the WFF Mission Planning Lab (MPL) into a real-time visualization system.  The MPL is...

  7. Risk management using big real time data

    OpenAIRE

    Cheng, Jie

    2014-01-01

    This thesis focuses on risk management of flight delay area using big real time data. It proposes two different prediction models, one is called General Long Term Departure Prediction Model and the other is named as Improved Real Time Arrival Prediction Model. By studying the main factors lead to flight delay, this thesis takes weather, carrier, National Aviation System, security and previous late aircraft as analysis factors. By utilizing our models can do not only long time b...

  8. Integrated Control and Real-Time Scheduling

    OpenAIRE

    Cervin, Anton

    2003-01-01

    The topic of the thesis is codesign of flexible real-time control systems. Integrating control theory and real-time scheduling theory, it is possible to achieve higher resource utilization and better control performance. The integration requires new tools for analysis, design, and implementation. The problem of scheduling the individual parts of a control algorithm is studied. It is shown how subtask scheduling can reduce the input-output latency in a set of control tasks. Deadline ass...

  9. Interferometer real time control development for SIM

    Science.gov (United States)

    Bell, Charles E.

    2003-02-01

    Real Time Control (RTC) for the Space Interferometry Mission will build on the real time core interferometer control technology under development at JPL since the mid 1990s, with heritage from the ground based MKII and Palomar Testbed Interferometer projects developed in the late '80s and early '90s. The core software and electronics technology for SIM interferometer real time control is successfully operating on several SIM technology demonstration testbeds, including the Real-time Interferometer Control System Testbed, System Testbed-3, and the Microarcsecond Metrology testbed. This paper provides an overview of the architecture, design, integration, and test of the SIM flight interferometer real time control to meet challenging flight system requirements for the high processor throughput, low-latency interconnect, and precise synchronization to support microarcsecond-level astrometric measurements for greater than five years at 1 AU in Earth-trailing orbit. The electronics and software architecture of the interferometer real time control core and its adaptation to a flight design concept are described. Control loops for pointing and pathlength control within each of four flight interferometers and for coordination of control and data across interferometers are illustrated. The nature of onboard data processing to fit average downlink rates while retaining post-processed astrometric measurement precision and accuracy is also addressed. Interferometer flight software will be developed using a software simulation environment incorporating models of the metrology and starlight sensors and actuators to close the real time control loops. RTC flight software and instrument flight electronics will in turn be integrated utilizing the same simulation architecture for metrology and starlight component models to close real time control loops and verify RTC functionality and performance prior to delivery to flight interferometer system integration at Lockheed Martin

  10. The LAA real-time benchmarks

    Energy Technology Data Exchange (ETDEWEB)

    Block, R.K.; Krischer, W.; Lone, S. [CERN, Geneva (Switzerland)

    1989-04-01

    In the context of the LAA detector development program a subgroup Real Time Data Processing has tackled the problem of intelligent triggering. The main goal of this group is to show how fast digital devices, implemented as custom-made or commercial processors, can execute some basic algorithms, and how they can be embedded in the data flow between detector readout components and fully programmable commercial processors, which are expected to be the final data processing filter in real time.

  11. REAL TIME WIRELESS AIR POLLUTION MONITORING SYSTEM

    OpenAIRE

    Raja Vara Prasad Y; Mirza Sami Baig; Mishra, Rahul K; Rajalakshmi, P.; U. B. Desai; S. N. Merchant

    2011-01-01

    Air pollution has significant influence on the concentration of constituents in the atmosphere leading to effects like global warming and acid rains. To avoid such adverse imbalances in the nature, an air pollution monitoring system is utmost important. This paper attempts to develop an effective solution for pollution monitoring using wireless sensor networks (WSN) on a real time basis namely real time wireless air pollution monitoring system. Commercially available discrete gas sensors for ...

  12. Real-time interferometric synthetic aperture microscopy

    OpenAIRE

    Ralston, Tyler S.; Marks, Daniel L.; Carney, P. Scott; Boppart, Stephen A.

    2008-01-01

    An interferometric synthetic aperture microscopy (ISAM) system design with real-time 2D cross-sectional processing is described in detail. The system can acquire, process, and display the ISAM reconstructed images at frame rates of 2.25 frames per second for 512 × 1024 pixel images. This system provides quantitatively meaningful structural information from previously indistinguishable scattering intensities and provides proof of feasibility for future real-time ISAM systems.

  13. Real-time interferometric synthetic aperture microscopy.

    Science.gov (United States)

    Ralston, Tyler S; Marks, Daniel L; Carney, P Scott; Boppart, Stephen A

    2008-02-18

    An interferometric synthetic aperture microscopy (ISAM) system design with real-time 2D cross-sectional processing is described in detail. The system can acquire, process, and display the ISAM reconstructed images at frame rates of 2.25 frames per second for 512 X 1024 pixel images. This system provides quantitatively meaningful structural information from previously indistinguishable scattering intensities and provides proof of feasibility for future real-time ISAM systems. PMID:18542337

  14. Real time monitoring of electron processors

    International Nuclear Information System (INIS)

    A real time radiation monitor (RTRM) has been developed for monitoring the dose rate (current density) of electron beam processors. The system provides continuous monitoring of processor output, electron beam uniformity, and an independent measure of operating voltage or electron energy. In view of the device's ability to replace labor-intensive dosimetry in verification of machine performance on a real-time basis, its application to providing archival performance data for in-line processing is discussed. (author)

  15. Scala for Real-Time Systems?

    DEFF Research Database (Denmark)

    Schoeberl, Martin

    2015-01-01

    Java served well as a general-purpose language. However, during its two decades of constant change it has gotten some weight and legacy in the language syntax and the libraries. Furthermore, Java's success for real-time systems is mediocre. Scala is a modern object-oriented and functional language...... with interesting new features. Although a new language, it executes on a Java virtual machine, reusing that technology. This paper explores Scala as language for future real-time systems....

  16. Real-Time Scheduling for Software Prototyping

    OpenAIRE

    Luqi; Shing, M

    1996-01-01

    This paper presents several real-time scheduling algorithms developed to support rapid prototyping of embedded systems using the Computer Aided Prototyping System (CAPS). The CAPS tools are based on the Prototyping System Description Language (PSDL), which is a high-level language designed specifically to support the conceptual modeling of real-time embedded systems. This paper describes the scheduling algorithms used in CAPS along with the associated timing constraint and hardwar...

  17. Towards validated real-time software

    OpenAIRE

    Bertin, V.; Poize, M.; Pulou, J.; Sifakis, J

    2000-01-01

    We present a tool for the design and validation of embedded real time applications. The tool integrates two approaches: the use of the synchronous programming language, ESTEREL for design, and the application of model checking techniques for validation of real time properties. Validation is carried out on a global formal model (timed automata) taking into account the effective implementation of the application on the target hardware architecture as well as its external environment behavior

  18. Benefits of real-time gas management

    International Nuclear Information System (INIS)

    In today's competitive gas gathering, processing, storage and transportation business environment, the requirements to do business are continually changing. These changes arise from government regulations such as the amendments to the Clean Air Act concerning the environment and FERC Order 636 concerning business practices. Other changes are due to advances in technology such as electronic flow measurement (EFM) and real-time communications capabilities within the gas industry. Gas gathering, processing, storage and transportation companies must be flexible in adapting to these changes to remain competitive. These dynamic requirements can be met with an open, real-time gas management computer information system. Such a system provides flexible services with a variety of software applications. Allocations, nominations management and gas dispatching are examples of applications that are provided on a real-time basis. By providing real-time services, the gas management system enables operations personnel to make timely adjustments within the current accounting period. Benefits realized from implementing a real-time gas management system include reduced unaccountable gas, reduced imbalance penalties, reduced regulatory violations, improved facility operations and better service to customers. These benefits give a company the competitive edge. This article discusses the applications provided, the benefits from implementing a real-time gas management system, and the definition of such a system

  19. Automated real time peg and tool detection for the FLS trainer box.

    Science.gov (United States)

    Nemani, Arun; Sankaranarayanan, Ganesh

    2012-01-01

    This study proposes a method that effectively tracks trocar tool and peg positions in real time to allow real time assessment of the peg transfer task of the Fundamentals of Laparoscopic Surgery (FLS). By utilizing custom code along with OpenCV libraries, tool and peg positions can be accurately tracked without altering the original setup conditions of the FLS trainer box. This is achieved via a series of image filtration sequences, thresholding functions, and Haar training methods. PMID:22357006

  20. Real-time automatic registration in optical surgical navigation

    Science.gov (United States)

    Lin, Qinyong; Yang, Rongqian; Cai, Ken; Si, Xuan; Chen, Xiuwen; Wu, Xiaoming

    2016-05-01

    An image-guided surgical navigation system requires the improvement of the patient-to-image registration time to enhance the convenience of the registration procedure. A critical step in achieving this aim is performing a fully automatic patient-to-image registration. This study reports on a design of custom fiducial markers and the performance of a real-time automatic patient-to-image registration method using these markers on the basis of an optical tracking system for rigid anatomy. The custom fiducial markers are designed to be automatically localized in both patient and image spaces. An automatic localization method is performed by registering a point cloud sampled from the three dimensional (3D) pedestal model surface of a fiducial marker to each pedestal of fiducial markers searched in image space. A head phantom is constructed to estimate the performance of the real-time automatic registration method under four fiducial configurations. The head phantom experimental results demonstrate that the real-time automatic registration method is more convenient, rapid, and accurate than the manual method. The time required for each registration is approximately 0.1 s. The automatic localization method precisely localizes the fiducial markers in image space. The averaged target registration error for the four configurations is approximately 0.7 mm. The automatic registration performance is independent of the positions relative to the tracking system and the movement of the patient during the operation.

  1. Real-time estimation of wildfire perimeters from curated crowdsourcing

    Science.gov (United States)

    Zhong, Xu; Duckham, Matt; Chong, Derek; Tolhurst, Kevin

    2016-04-01

    Real-time information about the spatial extents of evolving natural disasters, such as wildfire or flood perimeters, can assist both emergency responders and the general public during an emergency. However, authoritative information sources can suffer from bottlenecks and delays, while user-generated social media data usually lacks the necessary structure and trustworthiness for reliable automated processing. This paper describes and evaluates an automated technique for real-time tracking of wildfire perimeters based on publicly available “curated” crowdsourced data about telephone calls to the emergency services. Our technique is based on established data mining tools, and can be adjusted using a small number of intuitive parameters. Experiments using data from the devastating Black Saturday wildfires (2009) in Victoria, Australia, demonstrate the potential for the technique to detect and track wildfire perimeters automatically, in real time, and with moderate accuracy. Accuracy can be further increased through combination with other authoritative demographic and environmental information, such as population density and dynamic wind fields. These results are also independently validated against data from the more recent 2014 Mickleham-Dalrymple wildfires.

  2. Real-time estimation of wildfire perimeters from curated crowdsourcing.

    Science.gov (United States)

    Zhong, Xu; Duckham, Matt; Chong, Derek; Tolhurst, Kevin

    2016-01-01

    Real-time information about the spatial extents of evolving natural disasters, such as wildfire or flood perimeters, can assist both emergency responders and the general public during an emergency. However, authoritative information sources can suffer from bottlenecks and delays, while user-generated social media data usually lacks the necessary structure and trustworthiness for reliable automated processing. This paper describes and evaluates an automated technique for real-time tracking of wildfire perimeters based on publicly available "curated" crowdsourced data about telephone calls to the emergency services. Our technique is based on established data mining tools, and can be adjusted using a small number of intuitive parameters. Experiments using data from the devastating Black Saturday wildfires (2009) in Victoria, Australia, demonstrate the potential for the technique to detect and track wildfire perimeters automatically, in real time, and with moderate accuracy. Accuracy can be further increased through combination with other authoritative demographic and environmental information, such as population density and dynamic wind fields. These results are also independently validated against data from the more recent 2014 Mickleham-Dalrymple wildfires. PMID:27063569

  3. AFSC/ABL: Autonomous underwater vehicle for tracking acoustically-tagged fish 2010

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Autonomous underwater vehicles (AUVs) are increasingly being used to collect physical, chemical, and biological information in the marine environment. Recent...

  4. Acoustic Observatory Provides Real-Time Underwater Sounds from the Antarctic Ocean

    OpenAIRE

    Boebel, Olaf; Kindermann, Lars; Klinck, Holger; Bornemann, Horst; Plötz, Joachim; Steinhage, Daniel; Riedel, Sven; Burkhardt, Elke

    2006-01-01

    To obtain real-time, year-round acoustic data from the coastal Antarctic Ocean, an autonomous listening station, PALAOA (PerenniAL Acoustic Observatory in the Antarctic Ocean, or Hawaiian whale), was constructed in austral summer 2005/06, 15 km North of the German Neumayer Base. PALAOAs design was guided by demanding prerequisites: perennial, 365/24, autonomous operation, real-time data access, and full frequency and dynamic coverage. The station is located at 70°31S 8°13W, on the Ekström ice...

  5. REAL TIME SYSTEM OPERATIONS 2006-2007

    Energy Technology Data Exchange (ETDEWEB)

    Eto, Joseph H.; Parashar, Manu; Lewis, Nancy Jo

    2008-08-15

    The Real Time System Operations (RTSO) 2006-2007 project focused on two parallel technical tasks: (1) Real-Time Applications of Phasors for Monitoring, Alarming and Control; and (2) Real-Time Voltage Security Assessment (RTVSA) Prototype Tool. The overall goal of the phasor applications project was to accelerate adoption and foster greater use of new, more accurate, time-synchronized phasor measurements by conducting research and prototyping applications on California ISO's phasor platform - Real-Time Dynamics Monitoring System (RTDMS) -- that provide previously unavailable information on the dynamic stability of the grid. Feasibility assessment studies were conducted on potential application of this technology for small-signal stability monitoring, validating/improving existing stability nomograms, conducting frequency response analysis, and obtaining real-time sensitivity information on key metrics to assess grid stress. Based on study findings, prototype applications for real-time visualization and alarming, small-signal stability monitoring, measurement based sensitivity analysis and frequency response assessment were developed, factory- and field-tested at the California ISO and at BPA. The goal of the RTVSA project was to provide California ISO with a prototype voltage security assessment tool that runs in real time within California ISO?s new reliability and congestion management system. CERTS conducted a technical assessment of appropriate algorithms, developed a prototype incorporating state-of-art algorithms (such as the continuation power flow, direct method, boundary orbiting method, and hyperplanes) into a framework most suitable for an operations environment. Based on study findings, a functional specification was prepared, which the California ISO has since used to procure a production-quality tool that is now a part of a suite of advanced computational tools that is used by California ISO for reliability and congestion management.

  6. Real-time implementation of logo detection on open source BeagleBoard

    Science.gov (United States)

    George, M.; Kehtarnavaz, N.; Estevez, L.

    2011-03-01

    This paper presents the real-time implementation of our previously developed logo detection and tracking algorithm on the open source BeagleBoard mobile platform. This platform has an OMAP processor that incorporates an ARM Cortex processor. The algorithm combines Scale Invariant Feature Transform (SIFT) with k-means clustering, online color calibration and moment invariants to robustly detect and track logos in video. Various optimization steps that are carried out to allow the real-time execution of the algorithm on BeagleBoard are discussed. The results obtained are compared to the PC real-time implementation results.

  7. Real Time Facial Expression Recognition Using a Novel Method

    Directory of Open Access Journals (Sweden)

    Saumil Srivastava

    2012-05-01

    Full Text Available This paper discusses a novel method for Facial Expression Recognition System which performs facial expression analysis in a near real time from a live web cam feed. Primary objectives were to get results in a near real time with light invariant, person independent and pose invariant way. The system is composed of two different entities trainer and evaluator. Each frame of video feed is passed through a series of steps including haar classifiers, skin detection, feature extraction, feature points tracking, creating a learned Support Vector Machine model to classify emotions to achieve a tradeoff between accuracy and result rate. A processing time of 100-120 ms per 10 frames was achieved with accuracy of around 60%. We measure our accuracy in terms of variety of interaction and classification scenarios. We conclude by discussing relevance of our work to human computer interaction and exploring further measures that can be taken.

  8. High Performance Embedded System for Real-Time Pattern Matching

    CERN Document Server

    Sotiropoulou, Calliope Louisa; The ATLAS collaboration; Gkaitatzis, Stamatios; Citraro, Saverio; Giannetti, Paola; Dell'Orso, Mauro

    2016-01-01

    We present an innovative and high performance embedded system for real-time pattern matching. This system is based on the evolution of hardware and algorithms developed for the field of High Energy Physics (HEP) and more specifically for the execution of extremely fast pattern matching for tracking of particles produced by proton-proton collisions in hadron collider experiments. A miniaturized version of this complex system is being developed for pattern matching in generic image processing applications. The design uses the flexibility of Field Programmable Gate Arrays (FPGAs) and the powerful Associative Memory Chip (ASIC) to achieve real-time performance. The system works as a contour identifier able to extract the salient features of an image. It is based on the principles of cognitive image processing, which means that it executes fast pattern matching and data reduction mimicking the operation of the human brain.

  9. Real Time Facial Expression Recognition Using a Novel Method

    Directory of Open Access Journals (Sweden)

    Saumil Srivastava

    2012-04-01

    Full Text Available This paper discusses a novel method for Facial Expression Recognition System which performs facial expression analysis in a near real time from a live web cam feed. Primary objectives were to get results in a near real time with light invariant, person independent and pose invariant way. The system is composed of two different entities trainer and evaluator. Each frame of video feed is passed through a series of steps including haar classifiers, skin detection, feature extraction, feature points tracking, creating a learned Support Vector Machine model to classify emotions to achieve a tradeoff between accuracy and result rate. A processing time of 100-120 ms per 10 frames was achieved with accuracy of around 60%. We measure our accuracy in terms of variety of interaction and classification scenarios. We conclude by discussing relevance of our work to human computer interaction and exploring further measures that can be taken.

  10. IGS Real-time Resources Supporting Multi-GNSS Experiment

    Science.gov (United States)

    Weber, Georg; Mervart, Leos; Stöcker, Dirk; Neumaier, Peter; Söhne, Wolfgang; Stürze, Andrea

    2013-04-01

    The International GNSS Service (IGS) recently started with a real-time service disseminating orbit and clock corrections over the Internet. It is mainly based on observations collected from the IGS real-time tracking network processed by a number for Analysis Centers. To support the IGS Multi-GNSS Experiment (M-GEX), a growing number of involved stations also observe Galileo, QZSS and BeiDou in addition to GPS and GLONASS. The intention is to enable and further develop the real-time estimation of satellite orbits and clocks from all systems as well as using all of them in applications like real-time Precise Point Positioning (PPP). Recently a new RTCM-3 standard has been recommended to transport streams carrying observations from (modernized) GPS, GLONASS and Galileo satellites. A stream format supporting QZSS and BeiDou has been drafted. A new RINEX-3 standard is under development which allows archiving all observation types from all the new systems for post processing purposes. This presentation focuses on IGS resources for real-time conversion of observations in proprietary raw formats to the new open RTCM-3 stream and RINEX-3 file standards. So-called High Precision Multiple Signal Message (HP MSM) streams are produced and disseminated via Ntrip broadcaster under the umbrella of IGS. A high-rate RINEX-3 archive saves 1 Hz observation files as converted from MSM streams. RINEX-3 file editing, concatenation and quality check is enabled with the BKG Ntrip Client (BNC) software developed under GNU GPL supporting GPS, GLONASS, Galileo, BeiDou, QZSS and SBAS.

  11. Real-time control software on NSTX

    Energy Technology Data Exchange (ETDEWEB)

    Mastrovito, D. E-mail: dmastrovito@pppl.gov; Ferron, J.; Gates, D.; Gibney, T.; Johnson, R

    2004-06-01

    The National Spherical Tokamak Experiment (NSTX) depends on high speed, real-time control to establish initial magnetic field configurations, drive plasma current, and control plasma position and shape. The control required on NSTX is achieved through the combined efforts of several applications developed collaboratively including the power supply real-time controller (PSRTC) and the plasma control system (PCS). The PSRTC communicates with the PCS receiving from the PCS real-time voltage controls and is responsible for supplying dc power to the NSTX poloidal field, toroidal field and Ohmic heating coils. The PCS, which was designed at general atomics, controls the data acquisition, gas injection, plasma current, and plasma shape, including a real-time EFIT and isoflux algorithm for equilibrium reconstruction. Modular control algorithms, specific to NSTX, were written and incorporated into the PCS. The NSTX control system is equipped with 160 channels of fast real-time data acquisition and eight 333 MHz G4 processors, which perform the supervision, position, shape, and performance control. After a discharge, the acquired data and setup parameters are transferred to an MDSPlus central archive for later inspection and can be used to repeat previous machine configurations.

  12. Real-Time Earthquake Analysis for Disaster Mitigation (READI) Network

    Science.gov (United States)

    Bock, Y.

    2014-12-01

    Real-time GNSS networks are making a significant impact on our ability to forecast, assess, and mitigate the effects of geological hazards. I describe the activities of the Real-time Earthquake Analysis for Disaster Mitigation (READI) working group. The group leverages 600+ real-time GPS stations in western North America operated by UNAVCO (PBO network), Central Washington University (PANGA), US Geological Survey & Scripps Institution of Oceanography (SCIGN project), UC Berkeley & US Geological Survey (BARD network), and the Pacific Geosciences Centre (WCDA project). Our goal is to demonstrate an earthquake and tsunami early warning system for western North America. Rapid response is particularly important for those coastal communities that are in the near-source region of large earthquakes and may have only minutes of warning time, and who today are not adequately covered by existing seismic and basin-wide ocean-buoy monitoring systems. The READI working group is performing comparisons of independent real time analyses of 1 Hz GPS data for station displacements and is participating in government-sponsored earthquake and tsunami exercises in the Western U.S. I describe a prototype seismogeodetic system using a cluster of southern California stations that includes GNSS tracking and collocation with MEMS accelerometers for real-time estimation of seismic velocity and displacement waveforms, which has advantages for improved earthquake early warning and tsunami forecasts compared to seismic-only or GPS-only methods. The READI working group's ultimate goal is to participate in an Indo-Pacific Tsunami early warning system that utilizes GNSS real-time displacements and ionospheric measurements along with seismic, near-shore buoys and ocean-bottom pressure sensors, where available, to rapidly estimate magnitude and finite fault slip models for large earthquakes, and then forecast tsunami source, energy scale, geographic extent, inundation and runup. This will require

  13. Real-time dynamic imaging of virus distribution in vivo.

    Directory of Open Access Journals (Sweden)

    Sean E Hofherr

    Full Text Available The distribution of viruses and gene therapy vectors is difficult to assess in a living organism. For instance, trafficking in murine models can usually only be assessed after sacrificing the animal for tissue sectioning or extraction. These assays are laborious requiring whole animal sectioning to ascertain tissue localization. They also obviate the ability to perform longitudinal or kinetic studies in one animal. To track viruses after systemic infection, we have labeled adenoviruses with a near-infrared (NIR fluorophore and imaged these after intravenous injection in mice. Imaging was able to track and quantitate virus particles entering the jugular vein simultaneous with injection, appearing in the heart within 500 milliseconds, distributing in the bloodstream and throughout the animal within 7 seconds, and that the bulk of virus distribution was essentially complete within 3 minutes. These data provide the first in vivo real-time tracking of the rapid initial events of systemic virus infection.

  14. Scene independent real-time indirect illumination

    DEFF Research Database (Denmark)

    Frisvad, Jeppe Revall; Christensen, Niels Jørgen; Falster, Peter

    2005-01-01

    A novel method for real-time simulation of indirect illumination is presented in this paper. The method, which we call Direct Radiance Mapping (DRM), is based on basal radiance calculations and does not impose any restrictions on scene geometry or dynamics. This makes the method tractable for rea......, which can draw further advantages from upcoming GPU functionalities. The method has been tested for moderately sized scenes with close to real-time frame rates and it scales with interactive frame rates for more complex scenes.......-time rendering of arbitrary dynamic environments and for interactive preview of feature animations. Through DRM we simulate two diffuse reflections of light, but can also, in combination with traditional real-time methods for specular reflections, simulate more complex light paths. DRM is a GPU-based method...

  15. Testing of real-time-software

    International Nuclear Information System (INIS)

    The situation in the area of testing real-time-software is unsatisfactory. During the first phase of the project PROMOTE (prozessorientiertes Modul- und Gesamttestsystem) an analysis of the momentary situation took place, results of which are summarized in the following study about some user interviews and an analysis of relevant literature. 22 users (industry, software-houses, hardware-manufacturers, and institutes) have been interviewed. Discussions were held about reliability of real-time software with special interest to error avoidance, testing, and debugging. Main aims of the analysis of the literature were elaboration of standard terms, comparison of existing test methods and -systems, and the definition of boundaries to related areas. During the further steps of this project some means and techniques will be worked out to systematically test real-time software. (orig.)

  16. Development of Real Time Multitask Kernel

    Directory of Open Access Journals (Sweden)

    B. Sahli

    2008-01-01

    Full Text Available This study describes real-time kernel essential mechanisms and deals with the implementation of a real-time multitasks executive. To make more advantage of microprocessors in applications involving many functions simultaneously, our real-time kernel provides a multiprogramming environment in which many independent multitasking application programmes may execute and provides facilities to manage efficiently the processes (tasks and communicate between them. These facilities are provided by system calls that handle data structures namely tasks, semaphores, messages, events flag, resources, mail-boxes, queues and interruptions. Present kernel is preemptive and priorities assigned to tasks are dynamic, the kernel manages up to 63 task levels (63 is the lowest priority level assigned to the idle task. Round robin scheduling is not used here.

  17. Deterministic Real-time Thread Scheduling

    CERN Document Server

    Yun, Heechul; Sha, Lui

    2011-01-01

    Race condition is a timing sensitive problem. A significant source of timing variation comes from nondeterministic hardware interactions such as cache misses. While data race detectors and model checkers can check races, the enormous state space of complex software makes it difficult to identify all of the races and those residual implementation errors still remain a big challenge. In this paper, we propose deterministic real-time scheduling methods to address scheduling nondeterminism in uniprocessor systems. The main idea is to use timing insensitive deterministic events, e.g, an instruction counter, in conjunction with a real-time clock to schedule threads. By introducing the concept of Worst Case Executable Instructions (WCEI), we guarantee both determinism and real-time performance.

  18. Real-time systems scheduling 2 focuses

    CERN Document Server

    Chetto, Maryline

    2014-01-01

    Real-time systems are used in a wide range of applications, including control, sensing, multimedia, etc. Scheduling is a central problem for these computing/communication systems since it is responsible for software execution in a timely manner. This book, the second of two volumes on the subject, brings together knowledge on specific topics and discusses the recent advances for some of them.  It addresses foundations as well as the latest advances and findings in real-time scheduling, giving comprehensive references to important papers, but the chapters are short and not overloaded with co

  19. Real Time Implementation Of Face Recognition System

    Directory of Open Access Journals (Sweden)

    Megha Manchanda

    2014-10-01

    Full Text Available This paper proposes face recognition method using PCA for real time implementation. Nowadays security is gaining importance as it is becoming necessary for people to keep passwords in their mind and carry cards. Such implementations however, are becoming less secure and practical, also is becoming more problematic thus leading to an increasing interest in techniques related to biometrics systems. Face recognition system is amongst important subjects in biometrics systems. This system is very useful for security in particular and has been widely used and developed in many countries. This study aims to achieve face recognition successfully by detecting human face in real time, based on Principal Component Analysis (PCA algorithm.

  20. Machine vision for real time orbital operations

    Science.gov (United States)

    Vinz, Frank L.

    1988-01-01

    Machine vision for automation and robotic operation of Space Station era systems has the potential for increasing the efficiency of orbital servicing, repair, assembly and docking tasks. A machine vision research project is described in which a TV camera is used for inputing visual data to a computer so that image processing may be achieved for real time control of these orbital operations. A technique has resulted from this research which reduces computer memory requirements and greatly increases typical computational speed such that it has the potential for development into a real time orbital machine vision system. This technique is called AI BOSS (Analysis of Images by Box Scan and Syntax).

  1. SignalR real time application development

    CERN Document Server

    Ingebrigtsen, Einar

    2013-01-01

    This step-by-step guide gives you practical advice, tips, and tricks that will have you writing real-time apps quickly and easily.If you are a .NET developer who wants to be at the cutting edge of development, then this book is for you. Real-time application development is made simple in this guide, so as long as you have basic knowledge of .NET, a copy of Visual Studio, and NuGet installed, you are ready to go.

  2. Implementation of an Onboard Visual Tracking System with Small Unmanned Aerial Vehicle (UAV)

    CERN Document Server

    Qadir, Ashraf; Neubert, Jeremiah

    2012-01-01

    This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object or the camera. Detection and tracking is autonomously carried out on the payload computer and there are two different methods for creation of the image patches. The first method starts detecting and tracking using a stored image patch created prior to flight with previous flight data. The second method allows the operator on the ground to select the interest object for the UAV to track. The tracking system is capable of re-detecting the object of interest in the events of tracking failure. Performance of the tracking system was verified both in the lab and during actual flights of the UAV. Results show that the system can run on-board and track a diverse set of objects in real time.

  3. A real-time dashboard for managing pathology processes

    Science.gov (United States)

    Halwani, Fawaz; Li, Wei Chen; Banerjee, Diponkar; Lessard, Lysanne; Amyot, Daniel; Michalowski, Wojtek; Giffen, Randy

    2016-01-01

    Context: The Eastern Ontario Regional Laboratory Association (EORLA) is a newly established association of all the laboratory and pathology departments of Eastern Ontario that currently includes facilities from eight hospitals. All surgical specimens for EORLA are processed in one central location, the Department of Pathology and Laboratory Medicine (DPLM) at The Ottawa Hospital (TOH), where the rapid growth and influx of surgical and cytology specimens has created many challenges in ensuring the timely processing of cases and reports. Although the entire process is maintained and tracked in a clinical information system, this system lacks pre-emptive warnings that can help management address issues as they arise. Aims: Dashboard technology provides automated, real-time visual clues that could be used to alert management when a case or specimen is not being processed within predefined time frames. We describe the development of a dashboard helping pathology clinical management to make informed decisions on specimen allocation and tracking. Methods: The dashboard was designed and developed in two phases, following a prototyping approach. The first prototype of the dashboard helped monitor and manage pathology processes at the DPLM. Results: The use of this dashboard helped to uncover operational inefficiencies and contributed to an improvement of turn-around time within The Ottawa Hospital's DPML. It also allowed the discovery of additional requirements, leading to a second prototype that provides finer-grained, real-time information about individual cases and specimens. Conclusion: We successfully developed a dashboard that enables managers to address delays and bottlenecks in specimen allocation and tracking. This support ensures that pathology reports are provided within time frame standards required for high-quality patient care. Given the importance of rapid diagnostics for a number of diseases, the use of real-time dashboards within pathology departments could

  4. A real-time dashboard for managing pathology processes

    Directory of Open Access Journals (Sweden)

    Fawaz Halwani

    2016-01-01

    Full Text Available Context: The Eastern Ontario Regional Laboratory Association (EORLA is a newly established association of all the laboratory and pathology departments of Eastern Ontario that currently includes facilities from eight hospitals. All surgical specimens for EORLA are processed in one central location, the Department of Pathology and Laboratory Medicine (DPLM at The Ottawa Hospital (TOH, where the rapid growth and influx of surgical and cytology specimens has created many challenges in ensuring the timely processing of cases and reports. Although the entire process is maintained and tracked in a clinical information system, this system lacks pre-emptive warnings that can help management address issues as they arise. Aims: Dashboard technology provides automated, real-time visual clues that could be used to alert management when a case or specimen is not being processed within predefined time frames. We describe the development of a dashboard helping pathology clinical management to make informed decisions on specimen allocation and tracking. Methods: The dashboard was designed and developed in two phases, following a prototyping approach. The first prototype of the dashboard helped monitor and manage pathology processes at the DPLM. Results: The use of this dashboard helped to uncover operational inefficiencies and contributed to an improvement of turn-around time within The Ottawa Hospital′s DPML. It also allowed the discovery of additional requirements, leading to a second prototype that provides finer-grained, real-time information about individual cases and specimens. Conclusion: We successfully developed a dashboard that enables managers to address delays and bottlenecks in specimen allocation and tracking. This support ensures that pathology reports are provided within time frame standards required for high-quality patient care. Given the importance of rapid diagnostics for a number of diseases, the use of real-time dashboards within

  5. Real-time reconfigurable counter-propagating beam-traps

    DEFF Research Database (Denmark)

    Tauro, Sandeep; Bañas, Andrew Rafael; Palima, Darwin;

    2010-01-01

    We present a versatile technique that enhances the axial stability and range in counter-propagating (CP) beam-geometry optical traps. It is based on computer vision to track objects in unison with software implementation of feedback to stabilize particles. In this paper, we experimentally...... demonstrate the application of this technique by real-time rapid repositioning coupled with a strongly enhanced axial trapping for a plurality of particles of varying sizes. Also exhibited is an interesting feature of this approach in its ability to automatically adapt and trap objects of varying dimensions...

  6. Refactoring Real-Time Java Profiles

    DEFF Research Database (Denmark)

    Søndergaard, Hans; Thomsen, Bent; Ravn, Anders Peter;

    2011-01-01

    Just like other software, Java profiles benefits from refactoring when they have been used and have evolved for some time. This paper presents a refactoring of the Real-Time Specification for Java (RTSJ) and the Safety Critical Java (SCJ) profile (JSR-302). It highlights core concepts and makes it...... profiles easier to comprehend and use for application developers and students....

  7. [Real-time ultrasonography in neonatal diagnosis].

    Science.gov (United States)

    Nogués, A; Morales, A; Munguía, C; Pagola, C; Arena, J

    1982-11-01

    Real time ultrasonography is a diagnostic technique very widely used in pediatrics and with specific applications in neonatology. Bedside its use in Neonatal I.C.U. it has many interesting aspects for intraabdominal and intracranial pathology. In some particular conditions this procedure can be the first diagnostic tool. Conventional X-rays can be performed after sonographic data have been analyzed. PMID:7168508

  8. Refactoring Real-Time Java Profiles

    DEFF Research Database (Denmark)

    Søndergaard, Hans; Thomsen, Bent; Ravn, Anders P.;

    2011-01-01

    Just like other software, Java profiles benefits from refactoring when they have been used and have evolved for some time. This paper presents a refactoring of the Real-Time Specification for Java (RTSJ) and the Safety Critical Java (SCJ) profile (JSR-302). It highlights core concepts and makes...

  9. Advances in Real-Time Systems

    CERN Document Server

    Chakraborty, Samarjit

    2012-01-01

    This volume contains the lectures given in honor to Georg Farber as tribute to his contributions in the area of real-time and embedded systems. The chapters of many leading scientists cover a wide range of aspects, like robot or automotive vision systems or medical aspects.

  10. Testing Real-Time Systems Using UPPAAL

    DEFF Research Database (Denmark)

    Hessel, Anders; Larsen, Kim Guldstrand; Mikucionis, Marius; Nielsen, Brian; Pettersson, Paul; Skou, Arne

    This chapter presents principles and techniques for model-based black-box conformance testing of real-time systems using the Uppaal model-checking tool-suite. The basis for testing is given as a network of concurrent timed automata specified by the test engineer. Relativized input...... objectives, derive test sequences, apply these to the system under test, and assign a verdict....

  11. The Real-Time Multitask Threading Control

    OpenAIRE

    Han, Shuang

    2007-01-01

    In this master thesis, we design and implemented a super mode for multiple streaming signal processing applications, and got the timing budget based on Senior DSP processor. This work presented great opportunity to study the real-time system and firmware design knowledge on embedded system.

  12. Ray Tracing for Real-time Games

    NARCIS (Netherlands)

    Bikker, J.

    2012-01-01

    This thesis describes efficient rendering algorithms based on ray tracing, and the application of these algorithms to real-time games. Compared to rasterizationbased approaches, rendering based on ray tracing allows elegant and correct simulation of important global effects, such as shadows, reflect

  13. Solar neutrinos: Real-time experiments

    Science.gov (United States)

    Totsuka, Yoji

    1993-04-01

    This report outlines the principle of real-time solar neutrino detection experiments by detecting electrons with suitable target material, via Charged-Current (CC) reaction using conventional counting techniques developed in high-energy physics. Only B-8 neutrinos can be detected by minimum detectable energy of several MeV. The MSW (Mikheyev, Smirnov, Wolfenstein) effect not only distorts the energy spectrum but also induces new type of neutrinos, i.e. mu-neutrinos or tau-neutrinos. These neutrinos do not participate in the CC reaction. Therefore real-time experiment is to be sensitive to Neutral Current (NC) reactions. It is a challenge to eliminate environment background as much as possible and to lower the minimum detectable energy to several 100 keV, which will enable observation of Be-7 neutrinos. Target particles of real-time experiments currently running and under construction or planning are electron, deuteron, or argon. The relevant reactions corresponding to CC reaction and some relevant comments on the following targets are described: (1) electron target; (2) deuteron target; and (3) argon target. On-going experiment and future experiments for real-time neutron detection are also outlined.

  14. Real Time Grid Reliability Management 2005

    Energy Technology Data Exchange (ETDEWEB)

    Eto, Joe; Eto, Joe; Lesieutre, Bernard; Lewis, Nancy Jo; Parashar, Manu

    2008-07-07

    The increased need to manage California?s electricity grid in real time is a result of the ongoing transition from a system operated by vertically-integrated utilities serving native loads to one operated by an independent system operator supporting competitive energy markets. During this transition period, the traditional approach to reliability management -- construction of new transmission lines -- has not been pursued due to unresolved issues related to the financing and recovery of transmission project costs. In the absence of investments in new transmission infrastructure, the best strategy for managing reliability is to equip system operators with better real-time information about actual operating margins so that they can better understand and manage the risk of operating closer to the edge. A companion strategy is to address known deficiencies in offline modeling tools that are needed to ground the use of improved real-time tools. This project: (1) developed and conducted first-ever demonstrations of two prototype real-time software tools for voltage security assessment and phasor monitoring; and (2) prepared a scoping study on improving load and generator response models. Additional funding through two separate subsequent work authorizations has already been provided to build upon the work initiated in this project.

  15. Compiling models into real-time systems

    International Nuclear Information System (INIS)

    This paper presents an architecture for building real-time systems from models, and model-compiling techniques. This has been applied for building a real-time model-base monitoring system for nuclear plants, called KSE, which is currently being used in two plants in France. We describe how we used various artificial intelligence techniques for building it: a model-based approach, a logical model of its operation, a declarative implementation of these models, and original knowledge-compiling techniques for automatically generating the real-time expert system from those models. Some of those techniques have just been borrowed from the literature, but we had to modify or invent other techniques which simply did not exist. We also discuss two important problems, which are often underestimated in the artificial intelligence literature: size, and errors. Our architecture, which could be used in other applications, combines the advantages of the model-based approach with the efficiency requirements of real-time applications, while in general model-based approaches present serious drawbacks on this point

  16. Compiling models into real-time systems

    International Nuclear Information System (INIS)

    This paper presents an architecture for building real-time systems from models, and model-compiling techniques. This has been applied for building a real-time model-based monitoring system for nuclear plants, called KSE, which is currently being used in two plants in France. We describe how we used various artificial intelligence techniques for building it: a model-based approach, a logical model of its operation, a declarative implementation of these models, and original knowledge-compiling techniques for automatically generating the real-time expert system from those models. Some of those techniques have just been borrowed from the literature, but we had to modify or invent other techniques which simply did not exist. We also discuss two important problems, which are often underestimated in the artificial intelligence literature: size, and errors. Our architecture, which could be used in other applications, combines the advantages of the model-based approach with the efficiency requirements of real-time applications, while in general model-based approaches present serious drawbacks on this point

  17. Real time estimates of GDP growth

    NARCIS (Netherlands)

    Groot, de E.A. (Bert); Franses, P.H.P.H.

    2005-01-01

    This paper describes the components of the EICIE, the Econometric Institute Current Indicator of the Economy. This measure concerns quarterly and annual growth of Dutch real Gross Domestic Product. The key component of our real-time forecasting model for Dutch quarterly GDP is weekly staffing servic

  18. Real time estimates of GDP growth

    NARCIS (Netherlands)

    E.A. de Groot (Bert); Ph.H.B.F. Franses (Philip Hans)

    2005-01-01

    textabstractThis paper describes the components of the EICIE, the Econometric Institute Current Indicator of the Economy. This measure concerns quarterly and annual growth of Dutch real Gross Domestic Product. The key component of our real-time forecasting model for Dutch quarterly GDP is weekly sta

  19. Feedback as Real-Time Constructions

    Science.gov (United States)

    Keiding, Tina Bering; Qvortrup, Ane

    2014-01-01

    This article offers a re-description of feedback and the significance of time in feedback constructions based on systems theory. It describes feedback as internal, real-time constructions in a learning system. From this perspective, feedback is neither immediate nor delayed, but occurs in the very moment it takes place. This article argues for a…

  20. RTMOD: Real-Time MODel evaluation

    DEFF Research Database (Denmark)

    Graziani, G.; Galmarini, S.; Mikkelsen, Torben

    2000-01-01

    The 1998 - 1999 RTMOD project is a system based on an automated statistical evaluation for the inter-comparison of real-time forecasts produced by long-range atmospheric dispersion models for national nuclear emergency predictions of cross-boundaryconsequences. The background of RTMOD was the 1994...... probably contaminated areas....

  1. The Power of Real-Time PCR

    Science.gov (United States)

    Valasek, Mark A.; Repa, Joyce J.

    2005-01-01

    In recent years, real-time polymerase chain reaction (PCR) has emerged as a robust and widely used methodology for biological investigation because it can detect and quantify very small amounts of specific nucleic acid sequences. As a research tool, a major application of this technology is the rapid and accurate assessment of changes in gene…

  2. Real-time optimizations for integrated smart network camera

    Science.gov (United States)

    Desurmont, Xavier; Lienard, Bruno; Meessen, Jerome; Delaigle, Jean-Francois

    2005-02-01

    We present an integrated real-time smart network camera. This system is composed of an image sensor, an embedded PC based electronic card for image processing and some network capabilities. The application detects events of interest in visual scenes, highlights alarms and computes statistics. The system also produces meta-data information that could be shared between other cameras in a network. We describe the requirements of such a system and then show how the design of the system is optimized to process and compress video in real-time. Indeed, typical video-surveillance algorithms as background differencing, tracking and event detection should be highly optimized and simplified to be used in this hardware. To have a good adequation between hardware and software in this light embedded system, the software management is written on top of the java based middle-ware specification established by the OSGi alliance. We can integrate easily software and hardware in complex environments thanks to the Java Real-Time specification for the virtual machine and some network and service oriented java specifications (like RMI and Jini). Finally, we will report some outcomes and typical case studies of such a camera like counter-flow detection.

  3. Aircraft Fault Detection Using Real-Time Frequency Response Estimation

    Science.gov (United States)

    Grauer, Jared A.

    2016-01-01

    A real-time method for estimating time-varying aircraft frequency responses from input and output measurements was demonstrated. The Bat-4 subscale airplane was used with NASA Langley Research Center's AirSTAR unmanned aerial flight test facility to conduct flight tests and collect data for dynamic modeling. Orthogonal phase-optimized multisine inputs, summed with pilot stick and pedal inputs, were used to excite the responses. The aircraft was tested in its normal configuration and with emulated failures, which included a stuck left ruddervator and an increased command path latency. No prior knowledge of a dynamic model was used or available for the estimation. The longitudinal short period dynamics were investigated in this work. Time-varying frequency responses and stability margins were tracked well using a 20 second sliding window of data, as compared to a post-flight analysis using output error parameter estimation and a low-order equivalent system model. This method could be used in a real-time fault detection system, or for other applications of dynamic modeling such as real-time verification of stability margins during envelope expansion tests.

  4. Real-time multi-task operators support system

    International Nuclear Information System (INIS)

    The development in computer software and hardware technology and information processing as well as the accumulation in the design and feedback from Nuclear Power Plant (NPP) operation created a good opportunity to develop an integrated Operator Support System. The Real-time Multi-task Operator Support System (RMOSS) has been built to support the operator's decision making process during normal and abnormal operations. RMOSS consists of five system subtasks such as Data Collection and Validation Task (DCVT), Operation Monitoring Task (OMT), Fault Diagnostic Task (FDT), Operation Guideline Task (OGT) and Human Machine Interface Task (HMIT). RMOSS uses rule-based expert system and Artificial Neural Network (ANN). The rule-based expert system is used to identify the predefined events in static conditions and track the operation guideline through data processing. In dynamic status, Back-Propagation Neural Network is adopted for fault diagnosis, which is trained with the Genetic Algorithm. Embedded real-time operation system VxWorks and its integrated environment Tornado II are used as the RMOSS software cross-development. VxGUI is used to design HMI. All of the task programs are designed in C language. The task tests and function evaluation of RMOSS have been done in one real-time full scope simulator. Evaluation results show that each task of RMOSS is capable of accomplishing its functions. (authors)

  5. Kinetic Measurement and Real Time Visualization of Somatic Reprogramming.

    Science.gov (United States)

    Quintanilla, Rene H; Asprer, Joanna; Sylakowski, Kyle; Lakshmipathy, Uma

    2016-01-01

    Somatic reprogramming has enabled the conversion of adult cells to induced pluripotent stem cells (iPSC) from diverse genetic backgrounds and disease phenotypes. Recent advances have identified more efficient and safe methods for introduction of reprogramming factors. However, there are few tools to monitor and track the progression of reprogramming. Current methods for monitoring reprogramming rely on the qualitative inspection of morphology or staining with stem cell-specific dyes and antibodies. Tools to dissect the progression of iPSC generation can help better understand the process under different conditions from diverse cell sources. This study presents key approaches for kinetic measurement of reprogramming progression using flow cytometry as well as real-time monitoring via imaging. To measure the kinetics of reprogramming, flow analysis was performed at discrete time points using antibodies against positive and negative pluripotent stem cell markers. The combination of real-time visualization and flow analysis enables the quantitative study of reprogramming at different stages and provides a more accurate comparison of different systems and methods. Real-time, image-based analysis was used for the continuous monitoring of fibroblasts as they are reprogrammed in a feeder-free medium system. The kinetics of colony formation was measured based on confluence in the phase contrast or fluorescence channels after staining with live alkaline phosphatase dye or antibodies against SSEA4 or TRA-1-60. The results indicated that measurement of confluence provides semi-quantitative metrics to monitor the progression of reprogramming. PMID:27500543

  6. Method of synchronization assessment of rythms in regulatory systems for signal analysis in real time

    OpenAIRE

    Borovkova E.l.; Ishbulatov Yu.M.; Mironov S.A.

    2014-01-01

    A method is proposed for quantitative assessment of the phase synchronization of 0.1 Hz oscillations in autonomic cardiovascular control by photoplethysmogram analysis in real time. The efficiency of the method is shown in the comparison with the results obtained by the previously developed method.

  7. Method of synchronization assessment of rythms in regulatory systems for signal analysis in real time

    Directory of Open Access Journals (Sweden)

    Borovkova E.l.

    2014-09-01

    Full Text Available A method is proposed for quantitative assessment of the phase synchronization of 0.1 Hz oscillations in autonomic cardiovascular control by photoplethysmogram analysis in real time. The efficiency of the method is shown in the comparison with the results obtained by the previously developed method.

  8. Knowledge based support for real time application of multiagent control and automation in electric power systems

    DEFF Research Database (Denmark)

    Saleem, Arshad; Nordstrom, Lars; Lind, Morten

    2011-01-01

    This paper presents a mechanism for developing knowledge based support for real time application of multiagent systems (MAS) in control, automation and diagnosis of electric power systems. In particular it presents a way for autonomous agents to utilize a qualitative means-ends based model for re...... and choose an appropriate control action. The paper also elaborates on real time interfacing between multi-agent systems and industry standard distribution automation and control system.......This paper presents a mechanism for developing knowledge based support for real time application of multiagent systems (MAS) in control, automation and diagnosis of electric power systems. In particular it presents a way for autonomous agents to utilize a qualitative means-ends based model for...

  9. Real Time Flux Control in PM Motors

    Energy Technology Data Exchange (ETDEWEB)

    Otaduy, P.J.

    2005-09-27

    Significant research at the Oak Ridge National Laboratory (ORNL) Power Electronics and Electric Machinery Research Center (PEEMRC) is being conducted to develop ways to increase (1) torque, (2) speed range, and (3) efficiency of traction electric motors for hybrid electric vehicles (HEV) within existing current and voltage bounds. Current is limited by the inverter semiconductor devices' capability and voltage is limited by the stator wire insulation's ability to withstand the maximum back-electromotive force (emf), which occurs at the upper end of the speed range. One research track has been to explore ways to control the path and magnitude of magnetic flux while the motor is operating. The phrase, real time flux control (RTFC), refers to this mode of operation in which system parameters are changed while the motor is operating to improve its performance and speed range. RTFC has potential to meet an increased torque demand by introducing additional flux through the main air gap from an external source. It can augment the speed range by diverting flux away from the main air gap to reduce back-emf at high speeds. Conventional RTFC technology is known as vector control [1]. Vector control decomposes the stator current into two components; one that produces torque and a second that opposes (weakens) the magnetic field generated by the rotor, thereby requiring more overall stator current and reducing the efficiency. Efficiency can be improved by selecting a RTFC method that reduces the back-emf without increasing the average current. This favors methods that use pulse currents or very low currents to achieve field weakening. Foremost in ORNL's effort to develop flux control is the work of J. S. Hsu. Early research [2,3] introduced direct control of air-gap flux in permanent magnet (PM) machines and demonstrated it with a flux-controlled generator. The configuration eliminates the problem of demagnetization because it diverts all the flux from the

  10. ALMA Correlator Real-Time Data Processor

    Science.gov (United States)

    Pisano, J.; Amestica, R.; Perez, J.

    2005-10-01

    The design of a real-time Linux application utilizing Real-Time Application Interface (RTAI) to process real-time data from the radio astronomy correlator for the Atacama Large Millimeter Array (ALMA) is described. The correlator is a custom-built digital signal processor which computes the cross-correlation function of two digitized signal streams. ALMA will have 64 antennas with 2080 signal streams each with a sample rate of 4 giga-samples per second. The correlator's aggregate data output will be 1 gigabyte per second. The software is defined by hard deadlines with high input and processing data rates, while requiring interfaces to non real-time external computers. The designed computer system - the Correlator Data Processor or CDP, consists of a cluster of 17 SMP computers, 16 of which are compute nodes plus a master controller node all running real-time Linux kernels. Each compute node uses an RTAI kernel module to interface to a 32-bit parallel interface which accepts raw data at 64 megabytes per second in 1 megabyte chunks every 16 milliseconds. These data are transferred to tasks running on multiple CPUs in hard real-time using RTAI's LXRT facility to perform quantization corrections, data windowing, FFTs, and phase corrections for a processing rate of approximately 1 GFLOPS. Highly accurate timing signals are distributed to all seventeen computer nodes in order to synchronize them to other time-dependent devices in the observatory array. RTAI kernel tasks interface to the timing signals providing sub-millisecond timing resolution. The CDP interfaces, via the master node, to other computer systems on an external intra-net for command and control, data storage, and further data (image) processing. The master node accesses these external systems utilizing ALMA Common Software (ACS), a CORBA-based client-server software infrastructure providing logging, monitoring, data delivery, and intra-computer function invocation. The software is being developed in tandem

  11. Software Agents Applications Using Real-Time CORBA

    Science.gov (United States)

    Fowell, S.; Ward, R.; Nielsen, M.

    This paper describes current projects being performed by SciSys in the area of the use of software agents, built using CORBA middleware, to improve operations within autonomous satellite/ground systems. These concepts have been developed and demonstrated in a series of experiments variously funded by ESA's Technology Flight Opportunity Initiative (TFO) and Leading Edge Technology for SMEs (LET-SME), and the British National Space Centre's (BNSC) National Technology Programme. Some of this earlier work has already been reported in [1]. This paper will address the trends, issues and solutions associated with this software agent architecture concept, together with its implementation using CORBA within an on-board environment, that is to say taking account of its real- time and resource constrained nature.

  12. Dempster Shafer Sensor Fusion for Autonomously Driving Vehicles : Association Free Tracking of Dynamic Objects

    OpenAIRE

    Högger, Andreas

    2016-01-01

    Autonomous driving vehicles introduce challenging research areas combining differ-ent disciplines. One challenge is the detection of obstacles with different sensors and the combination of information to generate a comprehensive representation of the environment, which can be used for path planning and decision making.The sensor fusion is demonstrated using two Velodyne multi beam laser scanners, but it is possible to extend the proposed sensor fusion framework for different sensor types. Sensor...

  13. Environmental Tracking and Formation Control for an Autonomous Underwater Vehicle Platoon with Limited Communication

    OpenAIRE

    Roberson, David Gray

    2008-01-01

    A platoon of autonomous underwater vehicles provides a compelling platform for studying many challenging issues in multi-agent cooperative control. These challenges include developing cooperative algorithms suitable to practical multi-vehicle applications. They also include addressing intervehicle communication issues, such as sharing information via limited bandwidth channels and selecting network architecture to facilitate control design. This work addresses problems in each of these areas....

  14. Robot soccer anywhere: achieving persistent autonomous navigation, mapping and object vision tracking in dynamic environments

    OpenAIRE

    Dragone, Mauro; O'Donaghue, Ruadhan; Leonard, John J.; O'Hare, G. M. P.; Duffy, Brian R.; Patrikalakis, Andrew; Leederkerken, Jacques

    2005-01-01

    The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem...

  15. Overlay improvements using a real time machine learning algorithm

    Science.gov (United States)

    Schmitt-Weaver, Emil; Kubis, Michael; Henke, Wolfgang; Slotboom, Daan; Hoogenboom, Tom; Mulkens, Jan; Coogans, Martyn; ten Berge, Peter; Verkleij, Dick; van de Mast, Frank

    2014-04-01

    While semiconductor manufacturing is moving towards the 14nm node using immersion lithography, the overlay requirements are tightened to below 5nm. Next to improvements in the immersion scanner platform, enhancements in the overlay optimization and process control are needed to enable these low overlay numbers. Whereas conventional overlay control methods address wafer and lot variation autonomously with wafer pre exposure alignment metrology and post exposure overlay metrology, we see a need to reduce these variations by correlating more of the TWINSCAN system's sensor data directly to the post exposure YieldStar metrology in time. In this paper we will present the results of a study on applying a real time control algorithm based on machine learning technology. Machine learning methods use context and TWINSCAN system sensor data paired with post exposure YieldStar metrology to recognize generic behavior and train the control system to anticipate on this generic behavior. Specific for this study, the data concerns immersion scanner context, sensor data and on-wafer measured overlay data. By making the link between the scanner data and the wafer data we are able to establish a real time relationship. The result is an inline controller that accounts for small changes in scanner hardware performance in time while picking up subtle lot to lot and wafer to wafer deviations introduced by wafer processing.

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

    Science.gov (United States)

    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

  17. Real Time Radiation Monitoring Using Nanotechnology

    Science.gov (United States)

    Li, Jing (Inventor); Wilkins, Richard T. (Inventor); Hanratty, James J. (Inventor); Lu, Yijiang (Inventor)

    2016-01-01

    System and method for monitoring receipt and estimating flux value, in real time, of incident radiation, using two or more nanostructures (NSs) and associated terminals to provide closed electrical paths and to measure one or more electrical property change values .DELTA.EPV, associated with irradiated NSs, during a sequence of irradiation time intervals. Effects of irradiation, without healing and with healing, of the NSs, are separately modeled for first order and second order healing. Change values.DELTA.EPV are related to flux, to cumulative dose received by NSs, and to radiation and healing effectivity parameters and/or.mu., associated with the NS material and to the flux. Flux and/or dose are estimated in real time, based on EPV change values, using measured .DELTA.EPV values. Threshold dose for specified changes of biological origin (usually undesired) can be estimated. Effects of time-dependent radiation flux are analyzed in pre-healing and healing regimes.

  18. Real-Time Watercolor for Animation

    Institute of Scientific and Technical Information of China (English)

    Thomas Luft; Oliver Deussen

    2006-01-01

    We present algorithms that allow for real-time rendering of 3D-scenes with a watercolor painting appearance. Our approach provides an appropriate simplification of the visual complexity, imitates characteristic natural effects of watercolor, and provides two essential painting techniques: the wet-on-wet and the wet-on-dry painting. We concentrate on efficient algorithms based on image space processing rather than on an exact simulation. This allows for the real-time rendering of 3D-scenes. During an animation a high frame-to-frame coherence can be achieved due to a stable segmentation scheme. Finally, we seamlessly integrate a smooth illumination into the watercolor renderings using information from the 3D-scene.

  19. Monte Carlo study of real time dynamics

    CERN Document Server

    Alexandru, Andrei; Bedaque, Paulo F; Vartak, Sohan; Warrington, Neill C

    2016-01-01

    Monte Carlo studies involving real time dynamics are severely restricted by the sign problem that emerges from highly oscillatory phase of the path integral. In this letter, we present a new method to compute real time quantities on the lattice using the Schwinger-Keldysh formalism via Monte Carlo simulations. The key idea is to deform the path integration domain to a complex manifold where the phase oscillations are mild and the sign problem is manageable. We use the previously introduced "contraction algorithm" to create a Markov chain on this alternative manifold. We substantiate our approach by analyzing the quantum mechanical anharmonic oscillator. Our results are in agreement with the exact ones obtained by diagonalization of the Hamiltonian. The method we introduce is generic and in principle applicable to quantum field theory albeit very slow. We discuss some possible improvements that should speed up the algorithm.

  20. Real time PCR. Application in dengue studies

    Directory of Open Access Journals (Sweden)

    Jeanette Prada-Arismendy

    2011-06-01

    Full Text Available PCR (polymerase chain reaction is a routinely used tool in every diagnostic and research laboratory. This technique has been used in detection of mutations and pathogens, forensic investigation, and even is the base tool for human genome sequencing. A modification of PCR technique, real time PCR, allows the quantification of nucleic acids with higher sensibility, specificity and reproducibility. This article is intended to clarify the foundations of real-time PCR, using an application model for virology. In the actual work, it was quantified the viral load of dengue virus serotype 2 produced from infected murine macrophages; the obtained results in this work established that murine strain BALB/c presents a greater susceptibility to dengue virus infection, which establishes BALB/c murine strain as a best model of study for investigation of dengue virus infection physiopathology.