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Sample records for head pose estimation

  1. Learning toward practical head pose estimation

    Science.gov (United States)

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

    2017-08-01

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

  2. Head Pose Estimation from Passive Stereo Images

    DEFF Research Database (Denmark)

    Breitenstein, Michael D.; Jensen, Jeppe; Høilund, Carsten

    2009-01-01

    We present an algorithm to estimate the 3D pose (location and orientation) of a previously unseen face from low-quality range images. The algorithm generates many pose candidates from a signature to find the nose tip based on local shape, and then evaluates each candidate by computing an error fu...

  3. Head pose estimation algorithm based on deep learning

    Science.gov (United States)

    Cao, Yuanming; Liu, Yijun

    2017-05-01

    Head pose estimation has been widely used in the field of artificial intelligence, pattern recognition and intelligent human-computer interaction and so on. Good head pose estimation algorithm should deal with light, noise, identity, shelter and other factors robustly, but so far how to improve the accuracy and robustness of attitude estimation remains a major challenge in the field of computer vision. A method based on deep learning for pose estimation is presented. Deep learning with a strong learning ability, it can extract high-level image features of the input image by through a series of non-linear operation, then classifying the input image using the extracted feature. Such characteristics have greater differences in pose, while they are robust of light, identity, occlusion and other factors. The proposed head pose estimation is evaluated on the CAS-PEAL data set. Experimental results show that this method is effective to improve the accuracy of pose estimation.

  4. Head pose estimation & TV Context: current technology

    Directory of Open Access Journals (Sweden)

    Francois Rocca

    2015-06-01

    Full Text Available With the arrival of low-cost high quality cameras, implicit user behaviour tracking is easier and it becomes very interesting for viewer modelling and content personalization in a TV context. In this paper, we present a comparison between three common algorithms of automatic head direction extraction for a person watching TV in a realistic context. Those algorithms compute the different rotation angles of the head (pitch, roll, yaw in a non-invasive and continuous way based on 2D and/or 3D features acquired with low cost cameras. These results are compared with a reference based on the Qualisys motion capture commercial system which is a robust marker-based tracking system. The performances of the different algorithms are compared function of different configurations. While our results show that full implicit behaviour tracking in real-life TV setups is still a challenge, with the arrival of next generation sensors (as the new Kinect one sensor, accurate TV personalization based on implicit behaviour is close to become a very interesting option.

  5. Person-Independent Head Pose Estimation Using Biased Manifold Embedding

    Directory of Open Access Journals (Sweden)

    Sethuraman Panchanathan

    2008-02-01

    Full Text Available Head pose estimation has been an integral problem in the study of face recognition systems and human-computer interfaces, as part of biometric applications. A fine estimate of the head pose angle is necessary and useful for several face analysis applications. To determine the head pose, face images with varying pose angles can be considered to be lying on a smooth low-dimensional manifold in high-dimensional image feature space. However, when there are face images of multiple individuals with varying pose angles, manifold learning techniques often do not give accurate results. In this work, we propose a framework for a supervised form of manifold learning called Biased Manifold Embedding to obtain improved performance in head pose angle estimation. This framework goes beyond pose estimation, and can be applied to all regression applications. This framework, although formulated for a regression scenario, unifies other supervised approaches to manifold learning that have been proposed so far. Detailed studies of the proposed method are carried out on the FacePix database, which contains 181 face images each of 30 individuals with pose angle variations at a granularity of 1∘. Since biometric applications in the real world may not contain this level of granularity in training data, an analysis of the methodology is performed on sparsely sampled data to validate its effectiveness. We obtained up to 2∘ average pose angle estimation error in the results from our experiments, which matched the best results obtained for head pose estimation using related approaches.

  6. Probabilistic Mapping of Human Visual Attention from Head Pose Estimation

    Directory of Open Access Journals (Sweden)

    Andrea Veronese

    2017-10-01

    Full Text Available Effective interaction between a human and a robot requires the bidirectional perception and interpretation of actions and behavior. While actions can be identified as a directly observable activity, this might not be sufficient to deduce actions in a scene. For example, orienting our face toward a book might suggest the action toward “reading.” For a human observer, this deduction requires the direction of gaze, the object identified as a book and the intersection between gaze and book. With this in mind, we aim to estimate and map human visual attention as directed to a scene, and assess how this relates to the detection of objects and their related actions. In particular, we consider human head pose as measurement to infer the attention of a human engaged in a task and study which prior knowledge should be included in such a detection system. In a user study, we show the successful detection of attention to objects in a typical office task scenario (i.e., reading, working with a computer, studying an object. Our system requires a single external RGB camera for head pose measurements and a pre-recorded 3D point cloud of the environment.

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

    Science.gov (United States)

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

    2009-01-01

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

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

    Science.gov (United States)

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

    2016-07-01

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

  9. NUI framework based on real-time head pose estimation and hand gesture recognition

    Directory of Open Access Journals (Sweden)

    Kim Hyunduk

    2016-01-01

    Full Text Available The natural user interface (NUI is used for the natural motion interface without using device or tool such as mice, keyboards, pens and markers. In this paper, we develop natural user interface framework based on two recognition module. First module is real-time head pose estimation module using random forests and second module is hand gesture recognition module, named Hand gesture Key Emulation Toolkit (HandGKET. Using the head pose estimation module, we can know where the user is looking and what the user’s focus of attention is. Moreover, using the hand gesture recognition module, we can also control the computer using the user’s hand gesture without mouse and keyboard. In proposed framework, the user’s head direction and hand gesture are mapped into mouse and keyboard event, respectively.

  10. Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor

    National Research Council Canada - National Science Library

    Saeed, Anwar; Al-Hamadi, Ayoub; Ghoneim, Ahmed

    2015-01-01

    ..., such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ...

  11. Improving head and body pose estimation through semi-supervised manifold alignment

    KAUST Repository

    Heili, Alexandre

    2014-10-27

    In this paper, we explore the use of a semi-supervised manifold alignment method for domain adaptation in the context of human body and head pose estimation in videos. We build upon an existing state-of-the-art system that leverages on external labelled datasets for the body and head features, and on the unlabelled test data with weak velocity labels to do a coupled estimation of the body and head pose. While this previous approach showed promising results, the learning of the underlying manifold structure of the features in the train and target data and the need to align them were not explored despite the fact that the pose features between two datasets may vary according to the scene, e.g. due to different camera point of view or perspective. In this paper, we propose to use a semi-supervised manifold alignment method to bring the train and target samples closer within the resulting embedded space. To this end, we consider an adaptation set from the target data and rely on (weak) labels, given for example by the velocity direction whenever they are reliable. These labels, along with the training labels are used to bias the manifold distance within each manifold and to establish correspondences for alignment.

  12. 3D head pose estimation and tracking using particle filtering and ICP algorithm

    KAUST Repository

    Ben Ghorbel, Mahdi

    2010-01-01

    This paper addresses the issue of 3D head pose estimation and tracking. Existing approaches generally need huge database, training procedure, manual initialization or use face feature extraction manually extracted. We propose a framework for estimating the 3D head pose in its fine level and tracking it continuously across multiple Degrees of Freedom (DOF) based on ICP and particle filtering. We propose to approach the problem, using 3D computational techniques, by aligning a face model to the 3D dense estimation computed by a stereo vision method, and propose a particle filter algorithm to refine and track the posteriori estimate of the position of the face. This work comes with two contributions: the first concerns the alignment part where we propose an extended ICP algorithm using an anisotropic scale transformation. The second contribution concerns the tracking part. We propose the use of the particle filtering algorithm and propose to constrain the search space using ICP algorithm in the propagation step. The results show that the system is able to fit and track the head properly, and keeps accurate the results on new individuals without a manual adaptation or training. © Springer-Verlag Berlin Heidelberg 2010.

  13. Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor

    Directory of Open Access Journals (Sweden)

    Anwar Saeed

    2015-08-01

    Full Text Available Head pose estimation is a crucial initial task for human face analysis, which is employed in several computer vision systems, such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ Haar-like face detector. Several appearance and depth-based feature types are employed for the pose estimation, where comparisons between them in terms of accuracy and speed are presented. It is clearly shown through this work that using the depth data, we improve the accuracy of the head pose estimation. Additionally, we can spot positive detections, faces in profile views detected by the frontal model, that are wrongly cropped due to background disturbances. We introduce a new depth-based feature descriptor that provides competitive estimation results with a lower computation time. Evaluation on a benchmark Kinect database shows that the histogram of oriented gradients and the developed depth-based features are more distinctive for the head pose estimation, where they compare favorably to the current state-of-the-art approaches. Using a concatenation of the aforementioned feature types, we achieved a head pose estimation with average errors not exceeding 5:1; 4:6; 4:2 for pitch, yaw and roll angles, respectively.

  14. Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor.

    Science.gov (United States)

    Saeed, Anwar; Al-Hamadi, Ayoub; Ghoneim, Ahmed

    2015-08-26

    Head pose estimation is a crucial initial task for human face analysis, which is employed in several computer vision systems, such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ) Haar-like face detector. Several appearance and depth-based feature types are employed for the pose estimation, where comparisons between them in terms of accuracy and speed are presented. It is clearly shown through this work that using the depth data, we improve the accuracy of the head pose estimation. Additionally, we can spot positive detections, faces in profile views detected by the frontal model, that are wrongly cropped due to background disturbances. We introduce a new depth-based feature descriptor that provides competitive estimation results with a lower computation time. Evaluation on a benchmark Kinect database shows that the histogram of oriented gradients and the developed depth-based features are more distinctive for the head pose estimation, where they compare favorably to the current state-of-the-art approaches. Using a concatenation of the aforementioned feature types, we achieved a head pose estimation with average errors not exceeding 5:1; 4:6; 4:2 for pitch, yaw and roll angles, respectively.

  15. Baseline Face Detection, Head Pose Estimation, and Coarse Direction Detection for Facial Data in the SHRP2 Naturalistic Driving Study

    Energy Technology Data Exchange (ETDEWEB)

    Paone, Jeffrey R [ORNL; Bolme, David S [ORNL; Ferrell, Regina Kay [ORNL; Aykac, Deniz [ORNL; Karnowski, Thomas Paul [ORNL

    2015-01-01

    Keeping a driver focused on the road is one of the most critical steps in insuring the safe operation of a vehicle. The Strategic Highway Research Program 2 (SHRP2) has over 3,100 recorded videos of volunteer drivers during a period of 2 years. This extensive naturalistic driving study (NDS) contains over one million hours of video and associated data that could aid safety researchers in understanding where the driver s attention is focused. Manual analysis of this data is infeasible, therefore efforts are underway to develop automated feature extraction algorithms to process and characterize the data. The real-world nature, volume, and acquisition conditions are unmatched in the transportation community, but there are also challenges because the data has relatively low resolution, high compression rates, and differing illumination conditions. A smaller dataset, the head pose validation study, is available which used the same recording equipment as SHRP2 but is more easily accessible with less privacy constraints. In this work we report initial head pose accuracy using commercial and open source face pose estimation algorithms on the head pose validation data set.

  16. Human pose co-estimation and applications.

    Science.gov (United States)

    Eichner, Marcin; Ferrari, Vittorio

    2012-11-01

    Most existing techniques for articulated Human Pose Estimation (HPE)consider each person independently. Here we tackle the problem in a new setting,coined Human Pose Coestimation (PCE), where multiple people are in a common,but unknown pose. The task of PCE is to estimate their poses jointly and toproduce prototypes characterizing the shared pose. Since the poses of the individual people should be similar to the prototype, PCE has less freedom compared to estimating each pose independently, which simplifies the problem.We demonstrate our PCE technique on two applications. The first is estimating the pose of people performing the same activity synchronously, such as during aerobics, cheerleading, and dancing in a group. We show that PCE improves pose estimation accuracy over estimating each person independently. The second application is learning prototype poses characterizing a pose class directly from an image search engine queried by the class name (e.g., “lotus pose”). We show that PCE leads to better pose estimation in such images, and it learns meaningful prototypes which can be used as priors for pose estimation in novel images.

  17. An improved silhouette for human pose estimation

    Science.gov (United States)

    Hawes, Anthony H.; Iftekharuddin, Khan M.

    2017-08-01

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

  18. Factoring Algebraic Error for Relative Pose Estimation

    Energy Technology Data Exchange (ETDEWEB)

    Lindstrom, P; Duchaineau, M

    2009-03-09

    We address the problem of estimating the relative pose, i.e. translation and rotation, of two calibrated cameras from image point correspondences. Our approach is to factor the nonlinear algebraic pose error functional into translational and rotational components, and to optimize translation and rotation independently. This factorization admits subproblems that can be solved using direct methods with practical guarantees on global optimality. That is, for a given translation, the corresponding optimal rotation can directly be determined, and vice versa. We show that these subproblems are equivalent to computing the least eigenvector of second- and fourth-order symmetric tensors. When neither translation or rotation is known, alternating translation and rotation optimization leads to a simple, efficient, and robust algorithm for pose estimation that improves on the well-known 5- and 8-point methods.

  19. Robotic-surgical instrument wrist pose estimation.

    Science.gov (United States)

    Fabel, Stephan; Baek, Kyungim; Berkelman, Peter

    2010-01-01

    The Compact Lightweight Surgery Robot from the University of Hawaii includes two teleoperated instruments and one endoscope manipulator which act in accord to perform assisted interventional medicine. The relative positions and orientations of the robotic instruments and endoscope must be known to the teleoperation system so that the directions of the instrument motions can be controlled to correspond closely to the directions of the motions of the master manipulators, as seen by the the endoscope and displayed to the surgeon. If the manipulator bases are mounted in known locations and all manipulator joint variables are known, then the necessary coordinate transformations between the master and slave manipulators can be easily computed. The versatility and ease of use of the system can be increased, however, by allowing the endoscope or instrument manipulator bases to be moved to arbitrary positions and orientations without reinitializing each manipulator or remeasuring their relative positions. The aim of this work is to find the pose of the instrument end effectors using the video image from the endoscope camera. The P3P pose estimation algorithm is used with a Levenberg-Marquardt optimization to ensure convergence. The correct transformations between the master and slave coordinate frames can then be calculated and updated when the bases of the endoscope or instrument manipulators are moved to new, unknown, positions at any time before or during surgical procedures.

  20. Full Body Pose Estimation During Occlusion using Multiple Cameras

    DEFF Research Database (Denmark)

    Fihl, Preben; Cosar, Serhan

    Automatic estimation of the human pose enables many interesting applications and has therefore achieved much attention in recent years. One of the most successful approaches for estimating unconstrained poses has been the pictorial structures framework. However, occlusions between interacting...

  1. Web-based Visualisation of Head Pose and Facial Expressions Changes:

    DEFF Research Database (Denmark)

    Kalliatakis, Grigorios; Vidakis, Nikolaos; Triantafyllidis, Georgios

    2016-01-01

    and accurately estimate head pose changes in unconstrained environment. In order to complete the secondary process of recognising four universal dominant facial expressions (happiness, anger, sadness and surprise), emotion recognition via facial expressions (ERFE) was adopted. After that, a lightweight data...

  2. Human action recognition based on estimated weak poses

    Science.gov (United States)

    Gong, Wenjuan; Gonzàlez, Jordi; Roca, Francesc Xavier

    2012-12-01

    We present a novel method for human action recognition (HAR) based on estimated poses from image sequences. We use 3D human pose data as additional information and propose a compact human pose representation, called a weak pose, in a low-dimensional space while still keeping the most discriminative information for a given pose. With predicted poses from image features, we map the problem from image feature space to pose space, where a Bag of Poses (BOP) model is learned for the final goal of HAR. The BOP model is a modified version of the classical bag of words pipeline by building the vocabulary based on the most representative weak poses for a given action. Compared with the standard k-means clustering, our vocabulary selection criteria is proven to be more efficient and robust against the inherent challenges of action recognition. Moreover, since for action recognition the ordering of the poses is discriminative, the BOP model incorporates temporal information: in essence, groups of consecutive poses are considered together when computing the vocabulary and assignment. We tested our method on two well-known datasets: HumanEva and IXMAS, to demonstrate that weak poses aid to improve action recognition accuracies. The proposed method is scene-independent and is comparable with the state-of-art method.

  3. RELATIVE CAMERA POSE ESTIMATION METHOD USING OPTIMIZATION ON THE MANIFOLD

    Directory of Open Access Journals (Sweden)

    C. Cheng

    2017-05-01

    Full Text Available To solve the problem of relative camera pose estimation, a method using optimization with respect to the manifold is proposed. Firstly from maximum-a-posteriori (MAP model to nonlinear least squares (NLS model, the general state estimation model using optimization is derived. Then the camera pose estimation model is applied to the general state estimation model, while the parameterization of rigid body transformation is represented by Lie group/algebra. The jacobian of point-pose model with respect to Lie group/algebra is derived in detail and thus the optimization model of rigid body transformation is established. Experimental results show that compared with the original algorithms, the approaches with optimization can obtain higher accuracy both in rotation and translation, while avoiding the singularity of Euler angle parameterization of rotation. Thus the proposed method can estimate relative camera pose with high accuracy and robustness.

  4. Estimating 2D Upper Body Poses from Monocular Images

    NARCIS (Netherlands)

    Broekhuijsen, Jeroen; Poppe, Ronald Walter; Poel, Mannes

    2006-01-01

    Automatic estimation and recognition of poses from video allows for a whole range of applications. The research described here is an important step towards automatic extraction of 3D poses. We describe our research to extract the 2D joint locations of the people in meeting videos. The key point of

  5. Joint albedo estimation and pose tracking from video.

    Science.gov (United States)

    Taheri, Sima; Sankaranarayanan, Aswin C; Chellappa, Rama

    2013-07-01

    The albedo of a Lambertian object is a surface property that contributes to an object's appearance under changing illumination. As a signature independent of illumination, the albedo is useful for object recognition. Single image-based albedo estimation algorithms suffer due to shadows and non-Lambertian effects of the image. In this paper, we propose a sequential algorithm to estimate the albedo from a sequence of images of a known 3D object in varying poses and illumination conditions. We first show that by knowing/estimating the pose of the object at each frame of a sequence, the object's albedo can be efficiently estimated using a Kalman filter. We then extend this for the case of unknown pose by simultaneously tracking the pose as well as updating the albedo through a Rao-Blackwellized particle filter (RBPF). More specifically, the albedo is marginalized from the posterior distribution and estimated analytically using the Kalman filter, while the pose parameters are estimated using importance sampling and by minimizing the projection error of the face onto its spherical harmonic subspace, which results in an illumination-insensitive pose tracking algorithm. Illustrations and experiments are provided to validate the effectiveness of the approach using various synthetic and real sequences followed by applications to unconstrained, video-based face recognition.

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

    Science.gov (United States)

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

    2017-05-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  8. UAV to UAV Target Detection and Pose Estimation

    Science.gov (United States)

    2012-06-01

    open computer vision) for real-time implementation and faster computation since OpenCV has precompiled libraries that may work better for real image...affordable CCD cameras and open coding libraries . We accomplish this by reviewing past literature about UAV detection and pose estimation and exploring...capabilities suitable for the purpose of UAV to UAV detection and pose estima- tion using affordable CCD cameras and open coding libraries . We

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

    Science.gov (United States)

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

    2012-04-01

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

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

    Science.gov (United States)

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

    2005-12-01

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

  11. Using head poses to control a virtual robot walking in a virtualmaze

    Science.gov (United States)

    Zhao, Qingjie; Xu, Weicun; Wang, Yuxia; Shi, Xiaoming

    2013-05-01

    This paper develops a game system based on head pose identification techniques to control a virtual robot walking in a virtual maze environment built with Microsoft Robotics Developer Studio. Adaboost face classifiers are used to detect a face in the image and give a rough head pose classification. Two approaches are proposed to further determine more specific head poses. The first approach adopts PCA with nose template matching method, and the second one firstly uses a nose classifier to detect the nose in a detected face region and then directly utilizes the nose's relative position information to achieve head pose classification. A method to select the best nose area is proposed to solve the problem that multi-nose areas may be detected in one face region. Experiment results show that the two approaches have comparable time consumed, but the second approach provides more correct identification results.

  12. Robustifying Correspondence Based 6D Object Pose Estimation

    DEFF Research Database (Denmark)

    Hietanen, Antti; Halme, Jussi; Buch, Anders Glent

    2017-01-01

    We propose two methods to robustify point correspondence based 6D object pose estimation. The first method, curvature filtering, is based on the assumption that low curvature regions provide false matches, and removing points in these regions improves robustness. The second method, region pruning....... For the experiments, we evaluated three correspondence selection methods, Geometric Consistency (GC) [1], Hough Grouping (HG) [2] and Search of Inliers (SI) [3] and report systematic improvements for their robustified versions with two distinct datasets....

  13. A Comparison of Directional Distances for Hand Pose Estimation

    OpenAIRE

    Tzionas, Dimitrios; Gall, Juergen

    2017-01-01

    Benchmarking methods for 3d hand tracking is still an open problem due to the difficulty of acquiring ground truth data. We introduce a new dataset and benchmarking protocol that is insensitive to the accumulative error of other protocols. To this end, we create testing frame pairs of increasing difficulty and measure the pose estimation error separately for each of them. This approach gives new insights and allows to accurately study the performance of each feature or method without employin...

  14. Shape recognition and pose estimation for mobile Augmented Reality.

    Science.gov (United States)

    Hagbi, Nate; Bergig, Oriel; El-Sana, Jihad; Billinghurst, Mark

    2011-10-01

    Nestor is a real-time recognition and camera pose estimation system for planar shapes. The system allows shapes that carry contextual meanings for humans to be used as Augmented Reality (AR) tracking targets. The user can teach the system new shapes in real time. New shapes can be shown to the system frontally, or they can be automatically rectified according to previously learned shapes. Shapes can be automatically assigned virtual content by classification according to a shape class library. Nestor performs shape recognition by analyzing contour structures and generating projective-invariant signatures from their concavities. The concavities are further used to extract features for pose estimation and tracking. Pose refinement is carried out by minimizing the reprojection error between sample points on each image contour and its library counterpart. Sample points are matched by evolving an active contour in real time. Our experiments show that the system provides stable and accurate registration, and runs at interactive frame rates on a Nokia N95 mobile phone. © 2011 IEEE

  15. Tracking a Driver’s Face against Extreme Head Poses and Inference of Drowsiness Using a Hidden Markov Model

    Directory of Open Access Journals (Sweden)

    In-Ho Choi

    2016-05-01

    Full Text Available This study presents a new method to track driver’s facial states, such as head pose and eye-blinking in the real-time basis. Since a driver in the natural driving condition moves his head in diverse ways and his face is often occluded by his hand or the wheel, it should be a great challenge for the standard face models. Among many, Active Appearance Model (AAM, and Active Shape Model (ASM are two favored face models. We have extended Discriminative Bayesian ASM by incorporating the extreme pose cases, called it Pose Extended—Active Shape model (PE-ASM. Two face databases (DB are used for the comparison purpose: one is the Boston University face DB and the other is our custom-made driving DB. Our evaluation indicates that PE-ASM outperforms ASM and AAM in terms of the face fitting against extreme poses. Using this model, we can estimate the driver’s head pose, as well as eye-blinking, by adding respective processes. Two HMMs are trained to model temporal behaviors of these two facial features, and consequently the system can make inference by enumerating these HMM states whether the driver is drowsy or not. Result suggests that it can be used as a driver drowsiness detector in the commercial car where the visual conditions are very diverse and often tough to deal with.

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

    Science.gov (United States)

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

    2013-03-01

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

  17. Monocular Vision- and IMU-Based System for Prosthesis Pose Estimation During Total Hip Replacement Surgery.

    Science.gov (United States)

    Su, Shaojie; Zhou, Yixin; Wang, Zhihua; Chen, Hong

    2017-06-01

    The average age of population increases worldwide, so does the number of total hip replacement surgeries. Total hip replacement, however, often involves a risk of dislocation and prosthetic impingement. To minimize the risk after surgery, we propose an instrumented hip prosthesis that estimates the relative pose between prostheses intraoperatively and ensures the placement of prostheses within a safe zone. We create a model of the hip prosthesis as a ball and socket joint, which has four degrees of freedom (DOFs), including 3-DOF rotation and 1-DOF translation. We mount a camera and an inertial measurement unit (IMU) inside the hollow ball, or "femoral head prosthesis," while printing customized patterns on the internal surface of the socket, or "acetabular cup." Since the sensors were rigidly fixed to the femoral head prosthesis, measuring its motions poses a sensor ego-motion estimation problem. By matching feature points in images of the reference patterns, we propose a monocular vision based method with a relative error of less than 7% in the 3-DOF rotation and 8% in the 1-DOF translation. Further, to reduce system power consumption, we apply the IMU with its data fused by an extended Kalman filter to replace the camera in the 3-DOF rotation estimation, which yields a less than 4.8% relative error and a 21.6% decrease in power consumption. Experimental results show that the best approach to prosthesis pose estimation is a combination of monocular vision-based translation estimation and IMU-based rotation estimation, and we have verified the feasibility and validity of this system in prosthesis pose estimation.

  18. Audiovisual Head Orientation Estimation with Particle Filtering in Multisensor Scenarios

    Directory of Open Access Journals (Sweden)

    Javier Hernando

    2007-07-01

    Full Text Available This article presents a multimodal approach to head pose estimation of individuals in environments equipped with multiple cameras and microphones, such as SmartRooms or automatic video conferencing. Determining the individuals head orientation is the basis for many forms of more sophisticated interactions between humans and technical devices and can also be used for automatic sensor selection (camera, microphone in communications or video surveillance systems. The use of particle filters as a unified framework for the estimation of the head orientation for both monomodal and multimodal cases is proposed. In video, we estimate head orientation from color information by exploiting spatial redundancy among cameras. Audio information is processed to estimate the direction of the voice produced by a speaker making use of the directivity characteristics of the head radiation pattern. Furthermore, two different particle filter multimodal information fusion schemes for combining the audio and video streams are analyzed in terms of accuracy and robustness. In the first one, fusion is performed at a decision level by combining each monomodal head pose estimation, while the second one uses a joint estimation system combining information at data level. Experimental results conducted over the CLEAR 2006 evaluation database are reported and the comparison of the proposed multimodal head pose estimation algorithms with the reference monomodal approaches proves the effectiveness of the proposed approach.

  19. Audiovisual Head Orientation Estimation with Particle Filtering in Multisensor Scenarios

    Science.gov (United States)

    Canton-Ferrer, Cristian; Segura, Carlos; Casas, Josep R.; Pardàs, Montse; Hernando, Javier

    2007-12-01

    This article presents a multimodal approach to head pose estimation of individuals in environments equipped with multiple cameras and microphones, such as SmartRooms or automatic video conferencing. Determining the individuals head orientation is the basis for many forms of more sophisticated interactions between humans and technical devices and can also be used for automatic sensor selection (camera, microphone) in communications or video surveillance systems. The use of particle filters as a unified framework for the estimation of the head orientation for both monomodal and multimodal cases is proposed. In video, we estimate head orientation from color information by exploiting spatial redundancy among cameras. Audio information is processed to estimate the direction of the voice produced by a speaker making use of the directivity characteristics of the head radiation pattern. Furthermore, two different particle filter multimodal information fusion schemes for combining the audio and video streams are analyzed in terms of accuracy and robustness. In the first one, fusion is performed at a decision level by combining each monomodal head pose estimation, while the second one uses a joint estimation system combining information at data level. Experimental results conducted over the CLEAR 2006 evaluation database are reported and the comparison of the proposed multimodal head pose estimation algorithms with the reference monomodal approaches proves the effectiveness of the proposed approach.

  20. Detecting Probable Cheating during Online Assessments Based on Time Delay and Head Pose

    Science.gov (United States)

    Chuang, Chia Yuan; Craig, Scotty D.; Femiani, John

    2017-01-01

    This study investigated the ability of test takers' behaviors during online assessments to detect probable cheating incidents. Specifically, this study focused on the role of time delay and head pose for detection of cheating incidences in a lab-based online testing session. The analysis of a test taker's behavior indicated that not only time…

  1. Pose Estimation for Augmented Reality: A Hands-On Survey.

    Science.gov (United States)

    Marchand, Eric; Uchiyama, Hideaki; Spindler, Fabien

    2016-12-01

    Augmented reality (AR) allows to seamlessly insert virtual objects in an image sequence. In order to accomplish this goal, it is important that synthetic elements are rendered and aligned in the scene in an accurate and visually acceptable way. The solution of this problem can be related to a pose estimation or, equivalently, a camera localization process. This paper aims at presenting a brief but almost self-contented introduction to the most important approaches dedicated to vision-based camera localization along with a survey of several extension proposed in the recent years. For most of the presented approaches, we also provide links to code of short examples. This should allow readers to easily bridge the gap between theoretical aspects and practical implementations.

  2. Robustifying Correspondence Based 6D Object Pose Estimation

    DEFF Research Database (Denmark)

    Hietanen, Antti; Halme, Jussi; Buch, Anders Glent

    2017-01-01

    We propose two methods to robustify point correspondence based 6D object pose estimation. The first method, curvature filtering, is based on the assumption that low curvature regions provide false matches, and removing points in these regions improves robustness. The second method, region pruning......, is more general by making no assumptions about local surface properties. Our region pruning segments a model point cloud into cluster regions and searches good region combinations using a validation set. The robustifying methods are general and can be used with any correspondence based method....... For the experiments, we evaluated three correspondence selection methods, Geometric Consistency (GC) [1], Hough Grouping (HG) [2] and Search of Inliers (SI) [3] and report systematic improvements for their robustified versions with two distinct datasets....

  3. Conceiving Human Interaction by Visualising Depth Data of Head Pose Changes and Emotion Recognition via Facial Expressions

    Directory of Open Access Journals (Sweden)

    Grigorios Kalliatakis

    2017-07-01

    Full Text Available Affective computing in general and human activity and intention analysis in particular comprise a rapidly-growing field of research. Head pose and emotion changes present serious challenges when applied to player’s training and ludology experience in serious games, or analysis of customer satisfaction regarding broadcast and web services, or monitoring a driver’s attention. Given the increasing prominence and utility of depth sensors, it is now feasible to perform large-scale collection of three-dimensional (3D data for subsequent analysis. Discriminative random regression forests were selected in order to rapidly and accurately estimate head pose changes in an unconstrained environment. In order to complete the secondary process of recognising four universal dominant facial expressions (happiness, anger, sadness and surprise, emotion recognition via facial expressions (ERFE was adopted. After that, a lightweight data exchange format (JavaScript Object Notation (JSON is employed, in order to manipulate the data extracted from the two aforementioned settings. Motivated by the need to generate comprehensible visual representations from different sets of data, in this paper, we introduce a system capable of monitoring human activity through head pose and emotion changes, utilising an affordable 3D sensing technology (Microsoft Kinect sensor.

  4. Driver head pose estimation using efficient descriptor fusion

    National Research Council Canada - National Science Library

    Alioua, Nawal; Amine, Aouatif; Rogozan, Alexandrina; Bensrhair, Abdelaziz; Rziza, Mohammed

    2016-01-01

    .... Model-based approaches use a face geometrical model usually obtained from facial features, whereas appearance-based techniques use the whole face image characterized by a descriptor and generally...

  5. Multi-view 3D Human Pose Estimation in Complex Environment

    NARCIS (Netherlands)

    Hofmann, K.M.; Gavrila, D.M.

    2012-01-01

    We introduce a framework for unconstrained 3D human upper body pose estimation from multiple camera views in complex environment. Its main novelty lies in the integration of three components: single-frame pose recovery, temporal integration and model texture adaptation. Single-frame pose recovery

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

    Directory of Open Access Journals (Sweden)

    Lujiang Liu

    2016-06-01

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

  7. ErrorCheck: A New Method for Controlling the Accuracy of Pose Estimates

    DEFF Research Database (Denmark)

    Holm, Preben Hagh Strunge; Petersen, Henrik Gordon

    2011-01-01

    of a validated pose refinement method. ErrorCheck uses a theoretical estimate of the pose error covariance both for validating robustness and controlling the accuracy.We illustrate the first usage of ErrorCheck by applying it to state-of-the-art methods for pose refinement and some variations of these methods......In this paper, we present ErrorCheck, which is a new method for controlling the accuracy of a computer vision based pose refinement method. ErrorCheck consists of a way for validating robustness of a pose refinement method towards false correspondences and a way of controlling the accuracy...

  8. Systematic biases in human heading estimation.

    Directory of Open Access Journals (Sweden)

    Luigi F Cuturi

    Full Text Available Heading estimation is vital to everyday navigation and locomotion. Despite extensive behavioral and physiological research on both visual and vestibular heading estimation over more than two decades, the accuracy of heading estimation has not yet been systematically evaluated. Therefore human visual and vestibular heading estimation was assessed in the horizontal plane using a motion platform and stereo visual display. Heading angle was overestimated during forward movements and underestimated during backward movements in response to both visual and vestibular stimuli, indicating an overall multimodal bias toward lateral directions. Lateral biases are consistent with the overrepresentation of lateral preferred directions observed in neural populations that carry visual and vestibular heading information, including MSTd and otolith afferent populations. Due to this overrepresentation, population vector decoding yields patterns of bias remarkably similar to those observed behaviorally. Lateral biases are inconsistent with standard bayesian accounts which predict that estimates should be biased toward the most common straight forward heading direction. Nevertheless, lateral biases may be functionally relevant. They effectively constitute a perceptual scale expansion around straight ahead which could allow for more precise estimation and provide a high gain feedback signal to facilitate maintenance of straight-forward heading during everyday navigation and locomotion.

  9. Swimmer detection and pose estimation for continuous stroke-rate determination

    Science.gov (United States)

    Zecha, Dan; Greif, Thomas; Lienhart, Rainer

    2012-02-01

    In this work we propose a novel approach to automatically detect a swimmer and estimate his/her pose continuously in order to derive an estimate of his/her stroke rate given that we observe the swimmer from the side. We divide a swimming cycle of each stroke into several intervals. Each interval represents a pose of the stroke. We use specifically trained object detectors to detect each pose of a stroke within a video and count the number of occurrences per time unit of the most distinctive poses (so-called key poses) of a stroke to continuously infer the stroke rate. We extensively evaluate the overall performance and the influence of the selected poses for all swimming styles on a data set consisting of a variety of swimmers.

  10. Pose Estimation of Web-Shared Landscape Pictures

    Science.gov (United States)

    Produit, T.; Tuia, D.; Lepetit, V.; Golay, F.

    2014-08-01

    We propose a robust method for registering high oblique images of landscapes. Typically, an input image can be registered by matching it against a set of registered images of the same location. While this has been shown to work very well for images of popular urban landmarks, registering landscape images remains a very challenging task: For a given place, only a very small amount of registered images is generally already available on photo-sharing platforms. Moreover, the appearance of landscapes can vary drastically depending on the season and the weather conditions. For these two reasons, matching the input images with registered images in a reliable way remains a challenging task. Our contribution is two-fold: first, we show how to estimate the camera orientation for images with GPS data using a novel algorithm for horizon matching based on Dynamic Time Warping. The proposed algorithm exploits an elevation model. Each image is processed independently from the others, there is therefore no need neither for image matching or for a large set of images. This step provides a set of reliable, fully registered images. Second, and in odrer to register new images with no GPS data available, we first ask the user to provide an approximate image localization on a 2D map. Then, we exploit this prior on the camera location to efficiently and robustly constrain and guide the matching process used to register the query image. We apply our method to a case study from the Zermatt area in Southern Switzerland, and show that the method provides registrations, which are accurate enough to map each pixel to an aerial map.

  11. Example-based pose estimation in monocular images using compact fourier descriptors

    NARCIS (Netherlands)

    Poppe, Ronald Walter; Poel, Mannes

    2005-01-01

    Automatically estimating human poses from visual input is useful but challenging due to variations in image space and the high dimensionality of the pose space. In this paper, we assume that a human silhouette can be extracted from monocular visual input. We compare the recovery performance of

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

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2017-02-01

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

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

    Science.gov (United States)

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

    2017-02-14

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

  14. Conceiving Human Interaction by Visualising Depth Data of Head Pose Changes and Emotion Recognition via Facial Expressions

    NARCIS (Netherlands)

    Kalliatakis, Grigorios; Stergiou, A.G.; Vidakis, Nikolaos

    2017-01-01

    Affective computing in general and human activity and intention analysis in particular comprise a rapidly-growing field of research. Head pose and emotion changes present serious challenges when applied to player’s training and ludology experience in serious games, or analysis of customer

  15. Optimization-based non-cooperative spacecraft pose estimation using stereo cameras during proximity operations.

    Science.gov (United States)

    Zhang, Limin; Zhu, Feng; Hao, Yingming; Pan, Wang

    2017-05-20

    Pose estimation for spacecraft is widely recognized as an important technology for space applications. Many space missions require accurate relative pose between the chaser and the target spacecraft. Stereo-vision is a usual mean to estimate the pose of non-cooperative targets during proximity operations. However, the uncertainty of stereo-vision measurement is still an outstanding issue that needs to be solved. With binocular structure and the geometric structure of the object, we present a robust pose estimation method for non-cooperative spacecraft. Because the solar panel can provide strict geometry constraints, our approach takes the corner points of which as features. After stereo matching, an optimization-based method is proposed to estimate the relative pose between the two spacecraft. Simulation results show that our method improves the precision and robustness of pose estimation. Our system improves the performance with maximum 3D localization error less than 5% and relative rotation angle error less than 1°. Our laboratory experiments further validate the method.

  16. Critical steps in camera pose estimation: an evaluation using LTI-LIB2 library

    Directory of Open Access Journals (Sweden)

    Laura Cabrera-Quirós

    2014-03-01

    Full Text Available An evaluation of camera pose estimation methods using a chessboard pattern is presented. Steps evaluated in the estimation process are landmark point detection and camera parameter estimation, due to their critical role in the entire process. The ChESS method and a custom heuristic method are compared for chessboard pattern detection.  Both methods are objectively contrasted using True Positive and False Negative criteria. Meanwhile, Zhang’s method for pose estimation based on planar surface point distribution is used as a first approach, and then refined with a nonlinear regression through the Levenberg-Marquardt algorithm. This pose estimation algorithm is evaluated through a comparison with a stable tool, such as the Camera Calibration Toolbox for Matlab®.

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

    Science.gov (United States)

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

    2017-09-01

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

  18. Pose estimation of occluded objects with an improved template matching method

    Science.gov (United States)

    Su, J. H.; Liu, Z. Y.; Yang, G.

    2016-07-01

    Picking up objects in arbitrary poses is an important step in manufacturing. However, the occlusion of object will cause the picking process difficult. This paper presents a hierarchical detection method to estimate the pose of the object such as rod and bearing even in occluding. Combining the ellipse detection with the template matching, it is possible to identify the pose of a target object that is not be occluded. The propose method will enable a robot to grasp a non-occluded object and ensure a successful picking. Experiments witness the validity the method.

  19. Combining Front Vehicle Detection with 3D Pose Estimation for a Better Driver Assistance

    Directory of Open Access Journals (Sweden)

    Yu Peng

    2012-09-01

    Full Text Available Driver assistant systems enhance traffic safety and efficiency. The accurate 3D pose of a front vehicle can help a driver to make the right decision on the road. We propose a novel real-time system to estimate the 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. The vehicle rear is first identified in the video captured by an onboard camera, after license plate localization and foreground extraction. The 3D pose estimation technique is then employed with respect to the extracted vehicle rear. Most current 3D pose estimation techniques need prior models or a stereo initialization with user cooperation. It is extremely difficult to obtain prior models due to the varying appearance of vehicles' rears. Moreover, it is unsafe to ask for drivers' cooperation when a vehicle is running. In our system, two initial keyframes for stereo algorithms are automatically extracted by vehicle rear detection and tracking. Map points are defined as a collection of point features extracted from the vehicle's rear with their 3D information. These map points are inferences that relate the 2D features detected in following vehicles' rears with the 3D world. The relative 3D pose of the onboard camera to the front vehicle rear is then estimated through matching the map points with point features detected on the front vehicle rear. We demonstrate the capabilities of our system by testing on real-time and synthesized videos. In order to make the experimental analysis visible, we demonstrated an estimated 3D pose through augmented reality, which needs accurate and real-time 3D pose estimation.

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

    OpenAIRE

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

    2017-01-01

    Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points...

  1. POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION

    Directory of Open Access Journals (Sweden)

    G. Abdi

    2016-06-01

    Full Text Available GNSS/IMU navigation systems offer low-cost and robust solution to navigate UAVs. Since redundant measurements greatly improve the reliability of navigation systems, extensive researches have been made to enhance the efficiency and robustness of GNSS/IMU by additional sensors. This paper presents a method for integrating reference data, images taken from UAVs, barometric height data and GNSS/IMU data to estimate accurate and reliable pose parameters of UAVs. We provide improved pose estimations by integrating multi-sensor observations in an EKF algorithm with IMU motion model. The implemented methodology has demonstrated to be very efficient and reliable for automatic pose estimation. The calculated position and attitude of the UAV especially when we removed the GNSS from the working cycle clearly indicate the ability of the purposed methodology.

  2. Robustness of Input features from Noisy Silhouettes in Human Pose Estimation

    DEFF Research Database (Denmark)

    Gong, Wenjuan; Fihl, Preben; Gonzàlez, Jordi

    2014-01-01

    . In this paper, we explore this problem. First, We compare performances of several image features widely used for human pose estimation and explore their performances against each other and select one with best performance. Second, iterative closest point algorithm is introduced for a new quantitative...... measurement of noisy inputs. The proposed measurement is able to automatically discard noise, like camouflage from the background or shadows. With the proposed measurement, we split inputs into different noise levels and assess their pose estimation accuracies. Furthermore, we explore performances...

  3. Simultaneous Estimation of Material Properties and Pose for Deformable Objects from Depth and Color Images

    DEFF Research Database (Denmark)

    Fugl, Andreas Rune; Jordt, Andreas; Petersen, Henrik Gordon

    2012-01-01

    In this paper we consider the problem of estimating 6D pose and material properties of a deformable object grasped by a robot grip- per. To estimate the parameters we minimize an error function incorpo- rating visual and physical correctness. Through simulated and real-world experiments we...... demonstrate that we are able to find realistic 6D poses and elasticity parameters like Young’s modulus. This makes it possible to perform subsequent manipulation tasks, where accurate modelling of the elastic behaviour is important....

  4. Perturbation-Based Regularization for Signal Estimation in Linear Discrete Ill-posed Problems

    KAUST Repository

    Suliman, Mohamed Abdalla Elhag

    2016-11-29

    Estimating the values of unknown parameters from corrupted measured data faces a lot of challenges in ill-posed problems. In such problems, many fundamental estimation methods fail to provide a meaningful stabilized solution. In this work, we propose a new regularization approach and a new regularization parameter selection approach for linear least-squares discrete ill-posed problems. The proposed approach is based on enhancing the singular-value structure of the ill-posed model matrix to acquire a better solution. Unlike many other regularization algorithms that seek to minimize the estimated data error, the proposed approach is developed to minimize the mean-squared error of the estimator which is the objective in many typical estimation scenarios. The performance of the proposed approach is demonstrated by applying it to a large set of real-world discrete ill-posed problems. Simulation results demonstrate that the proposed approach outperforms a set of benchmark regularization methods in most cases. In addition, the approach also enjoys the lowest runtime and offers the highest level of robustness amongst all the tested benchmark regularization methods.

  5. Estimation of Antenna Pose in the Earth Frame Using Camera and IMU Data from Mobile Phones.

    Science.gov (United States)

    Wang, Zhen; Jin, Bingwen; Geng, Weidong

    2017-04-08

    The poses of base station antennas play an important role in cellular network optimization. Existing methods of pose estimation are based on physical measurements performed either by tower climbers or using additional sensors attached to antennas. In this paper, we present a novel non-contact method of antenna pose measurement based on multi-view images of the antenna and inertial measurement unit (IMU) data captured by a mobile phone. Given a known 3D model of the antenna, we first estimate the antenna pose relative to the phone camera from the multi-view images and then employ the corresponding IMU data to transform the pose from the camera coordinate frame into the Earth coordinate frame. To enhance the resulting accuracy, we improve existing camera-IMU calibration models by introducing additional degrees of freedom between the IMU sensors and defining a new error metric based on both the downtilt and azimuth angles, instead of a unified rotational error metric, to refine the calibration. In comparison with existing camera-IMU calibration methods, our method achieves an improvement in azimuth accuracy of approximately 1.0 degree on average while maintaining the same level of downtilt accuracy. For the pose estimation in the camera coordinate frame, we propose an automatic method of initializing the optimization solver and generating bounding constraints on the resulting pose to achieve better accuracy. With this initialization, state-of-the-art visual pose estimation methods yield satisfactory results in more than 75% of cases when plugged into our pipeline, and our solution, which takes advantage of the constraints, achieves even lower estimation errors on the downtilt and azimuth angles, both on average (0.13 and 0.3 degrees lower, respectively) and in the worst case (0.15 and 7.3 degrees lower, respectively), according to an evaluation conducted on a dataset consisting of 65 groups of data. We show that both of our enhancements contribute to the performance

  6. Estimation of Antenna Pose in the Earth Frame Using Camera and IMU Data from Mobile Phones

    Science.gov (United States)

    Wang, Zhen; Jin, Bingwen; Geng, Weidong

    2017-01-01

    The poses of base station antennas play an important role in cellular network optimization. Existing methods of pose estimation are based on physical measurements performed either by tower climbers or using additional sensors attached to antennas. In this paper, we present a novel non-contact method of antenna pose measurement based on multi-view images of the antenna and inertial measurement unit (IMU) data captured by a mobile phone. Given a known 3D model of the antenna, we first estimate the antenna pose relative to the phone camera from the multi-view images and then employ the corresponding IMU data to transform the pose from the camera coordinate frame into the Earth coordinate frame. To enhance the resulting accuracy, we improve existing camera-IMU calibration models by introducing additional degrees of freedom between the IMU sensors and defining a new error metric based on both the downtilt and azimuth angles, instead of a unified rotational error metric, to refine the calibration. In comparison with existing camera-IMU calibration methods, our method achieves an improvement in azimuth accuracy of approximately 1.0 degree on average while maintaining the same level of downtilt accuracy. For the pose estimation in the camera coordinate frame, we propose an automatic method of initializing the optimization solver and generating bounding constraints on the resulting pose to achieve better accuracy. With this initialization, state-of-the-art visual pose estimation methods yield satisfactory results in more than 75% of cases when plugged into our pipeline, and our solution, which takes advantage of the constraints, achieves even lower estimation errors on the downtilt and azimuth angles, both on average (0.13 and 0.3 degrees lower, respectively) and in the worst case (0.15 and 7.3 degrees lower, respectively), according to an evaluation conducted on a dataset consisting of 65 groups of data. We show that both of our enhancements contribute to the performance

  7. Human Pose Estimation from Silhouettes. A Consistent Approach Using Distance Level Sets

    NARCIS (Netherlands)

    Sminchisescu, C.; Telea, A.

    2002-01-01

    We present a novel similarity measure (likelihood) for estimating three-dimensional human pose from image silhouettes in model-based vision applications. One of the challenges in such approaches is the construction of a model-to-image likelihood that truly reflects the good configurations of the

  8. Pose Estimation using Local Structure-Specific Shape and Appearance Context

    DEFF Research Database (Denmark)

    Buch, Anders Glent; Kraft, Dirk; Kämäräinen, Joni-Kristian

    2013-01-01

    We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of semi-local descriptors containing rich appearance and shape...

  9. Real-time camera pose estimation for wide-area augmented reality applications.

    Science.gov (United States)

    Tao Guan; Liya Duan; Junqing Yu; Yongjian Chen; Xu Zhang

    2011-01-01

    Achieving accurate registration between real and synthetic worlds is one of augmented reality's biggest challenges. A real-time camera-pose estimation method, based on multiple maps and local bundle adjustment, enables the registration to work without prior knowledge of natural scenes. This method can significantly enhance AR systems' usability.

  10. Teach it Yourself - Fast Modeling of Industrial Objects for 6D Pose Estimation

    DEFF Research Database (Denmark)

    Sølund, Thomas; Rajeeth Savarimuthu, Thiusius; Glent Buch, Anders

    2015-01-01

    In this paper, we present a vision system that allows a human to create new 3D models of novel industrial parts by placing the part in two different positions in the scene. The two shot modeling framework generates models with a precision that allows the model to be used for 6D pose estimation...

  11. Utilizing Semantic Interpretation of Junctions for 3D-2D Pose Estimation

    DEFF Research Database (Denmark)

    Pilz, Florian; Yan, Shi; Grest, Daniel

    2007-01-01

    In this paper we investigate the quality of 3D-2D pose estimates using hand labeled line and point correspondences. We select point correspondences from junctions in the image, allowing to construct a meaningful interpretation about how the junction is formed, as proposed in e.g. [1], [2], [3]. W...

  12. A Comparison of Iterative 2D-3D Pose Estimation Methods for Real-Time Applications

    DEFF Research Database (Denmark)

    Grest, Daniel; Krüger, Volker; Petersen, Thomas

    2009-01-01

    This work compares iterative 2D-3D Pose Estimation methods for use in real-time applications. The compared methods are available for public as C++ code. One method is part of the openCV library, namely POSIT. Because POSIT is not applicable for planar 3Dpoint congurations, we include the planar P...

  13. Robust Pose Estimation using the SwissRanger SR-3000 Camera

    DEFF Research Database (Denmark)

    Gudmundsson, Sigurjon Arni; Larsen, Rasmus; Ersbøll, Bjarne Kjær

    2007-01-01

    In this paper a robust method is presented to classify and estimate an objects pose from a real time range image and a low dimensional model. The model is made from a range image training set which is reduced dimensionally by a nonlinear manifold learning method named Local Linear Embedding (LLE)...

  14. Towards real-time body pose estimation for presenters in meeting environments

    NARCIS (Netherlands)

    Poppe, Ronald Walter; Heylen, Dirk K.J.; Nijholt, Antinus; Poel, Mannes

    2005-01-01

    This paper describes a computer vision-based approach to body pose estimation. The algorithm can be executed in real-time and processes low resolution, monocular image sequences. A silhouette is extracted and matched against a projection of a 16 DOF human body model. In addition, skin color is used

  15. Using Online Modelled Spatial Constraints for Pose Estimation in an Industrial Setting

    DEFF Research Database (Denmark)

    Meyer, Kenneth Korsgaard; Wolniakowski, Adam; Hagelskjær, Frederik

    2017-01-01

    We introduce a vision system that is able to on-line learn spatial constraints to improve pose estimation in terms of correct recognition as well as computational speed. By making use of a simulated industrial robot system performing various pick and place tasks, we show the effect of model...

  16. Rider trunk and bicycle pose estimation with fusion of force/inertial sensors.

    Science.gov (United States)

    Zhang, Yizhai; Chen, Kuo; Yi, Jingang

    2013-09-01

    Estimation of human pose in physical human-machine interactions such as bicycling is challenging because of highly-dimensional human motion and lack of inexpensive, effective motion sensors. In this paper, we present a computational scheme to estimate both the rider trunk pose and the bicycle roll angle using only inertial and force sensors. The estimation scheme is built on a rider-bicycle dynamic model and the fusion of the wearable inertial sensors and the bicycle force sensors. We take advantages of the attractive properties of the robust force measurements and the motion-sensitive inertial measurements. The rider-bicycle dynamic model provides the underlying relationship between the force and the inertial measurements. The extended Kalman filter-based sensor fusion design fully incorporates the dynamic effects of the force measurements. The performance of the estimation scheme is demonstrated through extensive indoor and outdoor riding experiments.

  17. Surgical fiducial segmentation and tracking for pose estimation based on ultrasound B-mode images.

    Science.gov (United States)

    Lei Chen; Kuo, Nathanael; Aalamifar, Fereshteh; Narrow, David; Coon, Devin; Prince, Jerry; Boctor, Emad M

    2016-08-01

    Doppler ultrasound is a non-invasive diagnostic tool for the quantitative measurement of blood flow. However, given that it provides velocity data that is dependent on the location and angle of measurement, repeat measurements to detect problems over time may require an expert to return to the same location. We therefore developed an image-guidance system based on ultrasound B-mode images that enables an inexperienced user to position the ultrasound probe at the same site repeatedly in order to acquire a comparable time series of Doppler readings. The system utilizes a bioresorbable fiducial and complementing software composed of the fiducial detection, key points tracking, probe pose estimation, and graphical user interface (GUI) modules. The fiducial is an echogenic marker that is implanted at the surgical site and can be detected and tracked during ultrasound B-mode screening. The key points on the marker can next be used to determine the pose of the ultrasound probe with respect to the marker. The 3D representation of the probe with its position and orientation are then displayed in the GUI for the user guidance. The fiducial detection has been tested on the data sets collected from three animal studies. The pose estimation algorithm was validated by five data sets collected by a UR5 robot. We tested the system on a plastisol phantom and showed that it can detect and track the fiducial marker while displaying the probe pose in real-time.

  18. The Pose Estimation of Mobile Robot Based on Improved Point Cloud Registration

    Directory of Open Access Journals (Sweden)

    Yanzi Miao

    2016-03-01

    Full Text Available Due to GPS restrictions, an inertial sensor is usually used to estimate the location of indoor mobile robots. However, it is difficult to achieve high-accuracy localization and control by inertial sensors alone. In this paper, a new method is proposed to estimate an indoor mobile robot pose with six degrees of freedom based on an improved 3D-Normal Distributions Transform algorithm (3D-NDT. First, point cloud data are captured by a Kinect sensor and segmented according to the distance to the robot. After the segmentation, the input point cloud data are processed by the Approximate Voxel Grid Filter algorithm in different sized voxel grids. Second, the initial registration and precise registration are performed respectively according to the distance to the sensor. The most distant point cloud data use the 3D-Normal Distributions Transform algorithm (3D-NDT with large-sized voxel grids for initial registration, based on the transformation matrix from the odometry method. The closest point cloud data use the 3D-NDT algorithm with small-sized voxel grids for precise registration. After the registrations above, a final transformation matrix is obtained and coordinated. Based on this transformation matrix, the pose estimation problem of the indoor mobile robot is solved. Test results show that this method can obtain accurate robot pose estimation and has better robustness.

  19. 6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features.

    Science.gov (United States)

    Ye, Cang; Hong, Soonhac; Tamjidi, Amirhossein

    2015-10-01

    This paper presents a 6-DOF Pose Estimation (PE) method for a Robotic Navigation Aid (RNA) for the visually impaired. The RNA uses a single 3D camera for PE and object detection. The proposed method processes the camera's intensity and range data to estimates the camera's egomotion that is then used by an Extended Kalman Filter (EKF) as the motion model to track a set of visual features for PE. A RANSAC process is employed in the EKF to identify inliers from the visual feature correspondences between two image frames. Only the inliers are used to update the EKF's state. The EKF integrates the egomotion into the camera's pose in the world coordinate system. To retain the EKF's consistency, the distance between the camera and the floor plane (extracted from the range data) is used by the EKF as the observation of the camera's z coordinate. Experimental results demonstrate that the proposed method results in accurate pose estimates for positioning the RNA in indoor environments. Based on the PE method, a wayfinding system is developed for localization of the RNA in a home environment. The system uses the estimated pose and the floorplan to locate the RNA user in the home environment and announces the points of interest and navigational commands to the user through a speech interface. This work was motivated by the limitations of the existing navigation technology for the visually impaired. Most of the existing methods use a point/line measurement sensor for indoor object detection. Therefore, they lack capability in detecting 3D objects and positioning a blind traveler. Stereovision has been used in recent research. However, it cannot provide reliable depth data for object detection. Also, it tends to produce a lower localization accuracy because its depth measurement error quadratically increases with the true distance. This paper suggests a new approach for navigating a blind traveler. The method uses a single 3D time-of-flight camera for both 6-DOF PE and 3D object

  20. Robot Pose Estimation on Floor Equipped with a Lattice of RFID Tags

    Science.gov (United States)

    Kodaka, Kenri; Niwa, Haruhiko; Sakamoto, Yoshihiro; Sugano, Shigeki

    A method of estimating pose of a robot on a lattice of RFID tags is described. There is a model room in WABOT-HOUSE Laboratory of Waseda University where the floor is equipped with a lattice of RFID tags at 300 mm intervals, simulating a future home environment where robots interact symbiotically with humans. This paper propose a method that uses Monte Carlo localization to estimate the pose of robot on the lattice more precisely than the interval of tags. The experience shows the position and orientation error converge at about 50 mm (straight movement) / 20 mm (rotating movement) and less than 0.1 radian using some properly designed model-parameters, which are tuned in accordance with our simulation results, when two readers are placed appropriately. Moreover, we describe some items about where readers should be placed.

  1. A new benchmark for pose estimation with ground truth from virtual reality

    DEFF Research Database (Denmark)

    Schlette, Christian; Buch, Anders Glent; Aksoy, Eren Erdal

    2014-01-01

    assembly tasks. Following the eRobotics methodology, a simulatable 3D representation of this platform was modelled in virtual reality. Based on a detailed camera and sensor simulation, we generated a set of benchmark images and point clouds with controlled levels of noise as well as ground truth data......The development of programming paradigms for industrial assembly currently gets fresh impetus from approaches in human demonstration and programming-by-demonstration. Major low- and mid-level prerequisites for machine vision and learning in these intelligent robotic applications are pose estimation...... such as object positions and time stamps. We demonstrate the application of the benchmark to evaluate our latest developments in pose estimation, stereo reconstruction and action recognition and publish the benchmark data for objective comparison of sensor setups and algorithms in industry....

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

    Directory of Open Access Journals (Sweden)

    Oliver Lomp

    2017-04-01

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

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

    Science.gov (United States)

    Lomp, Oliver; Faubel, Christian; Schöner, Gregor

    2017-01-01

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

  4. Stereo-Vision-Based Relative Pose Estimation for the Rendezvous and Docking of Noncooperative Satellites

    Directory of Open Access Journals (Sweden)

    Feng Yu

    2014-01-01

    Full Text Available Autonomous on-orbit servicing is expected to play an important role in future space activities. Acquiring the relative pose information and inertial parameters of target is one of the key technologies for autonomous capturing. In this paper, an estimation method of relative pose based on stereo vision is presented for the final phase of the rendezvous and docking of noncooperative satellites. The proposed estimation method utilizes the sparse stereo vision algorithm instead of the dense stereo algorithm. The method consists of three parts: (1 body frame reestablishment, which establishes the body-fixed frame for the target satellite using the natural features on the surface and measures the relative attitude based on TRIAD and QUEST; (2 translational parameter estimation, which designs a standard Kalman filter to estimate the translational states and the location of mass center; (3 rotational parameter estimation, which designs an extended Kalman filter and an unscented Kalman filter, respectively, to estimate the rotational states and all the moment-of-inertia ratios. Compared to the dense stereo algorithm, the proposed method can avoid degeneracy when the target has a high degree of axial symmetry and reduce the number of sensors. The validity of the proposed method is verified by numerical simulations.

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

    Directory of Open Access Journals (Sweden)

    Yi Yang

    2017-10-01

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

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

    Science.gov (United States)

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

    2017-10-22

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

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

    Science.gov (United States)

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

    2014-11-01

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

  8. Camera pose estimation for augmented reality in a small indoor dynamic scene

    Science.gov (United States)

    Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

    2017-09-01

    Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

  9. Parallel vision-based pose estimation for non-cooperative spacecraft

    Directory of Open Access Journals (Sweden)

    Ronghua Li

    2015-07-01

    Full Text Available This article proposes a relative pose estimation method between non-cooperative spacecrafts based on parallel binocular vision. As the information of non-cooperative spacecraft in space is not accessible, the target is considered to be freely tumbling in space. The line feature of non-cooperative target is used to extract the feature points first; then the stereo matching and three-dimensional restructuring are taken for the feature points; finally, an algorithm based on parallel binocular vision algorithm is used to calculate the relative pose between the target coordinate and the world coordinate. The experimental results show that the proposed method has high-accuracy real-time performance.

  10. Pose-estimation error analysis of the L-shaped line segments for object recognition

    Science.gov (United States)

    Nomura, Yoshihiko; Hirata, Junichi; Zhang, Dili

    1999-08-01

    This paper present a method to reduce the calculation costs of object pose measurements. They are estimated by matching L-shaped line-segments in 3D object models with those in 2D object images using a P3P solution. The L segments have the minimum pieces of information for the estimation, and, therefore, it produces a large amount of L segments both in the 3D object models and in the 2D object images, resulting in enormous correspondences, and P3P calculations. To solve the problem, we propose a strategy enabling to select fewer L segments: as an evaluation function, we utilizes an average of the estimation errors when observing the L segments from representative points on a geodesic dome. Furthermore, we deduce a useful approximate formula for L segments having various shapes.

  11. Bias Estimations for Ill-posed Problem of Celestial Positioning Using the Sun and Precision Analysis

    Directory of Open Access Journals (Sweden)

    ZHAN Yinhu

    2016-08-01

    Full Text Available Lunar/Mars rovers own sun sensors for navigation, however, long-time tracking for the sun impacts on the real-time activity of navigation. Absolute positioning method by observing the sun with a super short tracking period such as 1 or 2 minutes is researched in this paper. Linear least squares model of altitude positioning method is deduced, and the ill-posed problem of celestial positioning using the sun is brought out for the first time. Singular value decomposition method is used to diagnose the ill-posed problem, and different bias estimations are employed and compared by simulative calculations. Results of the calculations indicate the superiority of bias estimations which can effectively improve initial values. However, bias estimations are greatly impacted by initial values, because the initial values converge at a line which passes by the real value and is vertical relative to the orientation of the sun. The research of this paper is of some value to application.

  12. Correlation techniques as applied to pose estimation in space station docking

    Science.gov (United States)

    Rollins, John M.; Juday, Richard D.; Monroe, Stanley E., Jr.

    2002-08-01

    The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not necessarily provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots must form a constellation of specific relative positions in the incoming image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1/20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow and lighting irregularity compensation are discussed.

  13. Extended 3D Line Segments from RGB-D Data for Pose Estimation

    DEFF Research Database (Denmark)

    Buch, Anders Glent; Jessen, Jeppe Barsøe; Kraft, Dirk

    2013-01-01

    We propose a method for the extraction of complete and rich symbolic line segments in 3D based on RGB-D data. Edges are detected by combining cues from the RGB image and the aligned depth map. 3D line segments are then reconstructed by back-projecting 2D line segments and intersecting this with l...... this with local surface patches computed from the 3D point cloud. Different edge types are classified using the new enriched representation and the potential of this representation for the task of pose estimation is demonstrated....

  14. A Monocular SLAM Method to Estimate Relative Pose During Satellite Proximity Operations

    Science.gov (United States)

    2015-03-26

    Memory: 2.0 GB RAM Processor Cores: 4 System type: 64-bit 35 A Point Grey Research Flea 3 camera was used to acquire video sequences ana- lyzed in...Point Grey Research, Inc. Product Name: Flea 3 USB 3.0 Model: FL3-U3-13S2C/M-CS Megapixels: 1.3 Imaging Sensor: Sony IMX035 CMOS, 1/3” Max...threshold is assigned based on the rate of relative motion. Auto- mated initialization based on initial track point motion results in two pose estimates

  15. Three-dimensional pose estimation model for object with complex surface

    Directory of Open Access Journals (Sweden)

    Ronghua Li

    2015-02-01

    Full Text Available The proposed three-dimensional pose estimation model for object with complex surface, which primarily absorbs the essence of scale-invariant feature transform and iterative closest point algorithm, includes two steps, off-line and online. At first, two kinds of feature databases are established in the off-line operations. Then, the online process mainly has three steps. The first one is two-dimensional edge extraction from red–green–blue (RGB information based on scale-invariant feature transform algorithm. The second one is three-dimensional surface reconstruction from the previous two-dimensional edge and the depth information obtained from depth camera. The last one is three-dimensional pose estimation based on camera calibration and iterative closest point algorithm. The Kinect camera is selected as the information acquisition device which can produce red–green–blue information and depth information. In the experiment, the container twist-lock with complex surface is taken as the object. The result shows that the accuracy of the proposed model is very high.

  16. Robust and Accurate Multiple-Camera Pose Estimation toward Robotic Applications

    Directory of Open Access Journals (Sweden)

    Yong Liu

    2014-09-01

    Full Text Available Pose estimation methods in robotics applications frequently suffer from inaccuracy due to a lack of correspondence and real-time constraints, and instability from a wide range of viewpoints, etc. In this paper, we present a novel approach for estimating the poses of all the cameras in a multi-camera system in which each camera is placed rigidly using only a few coplanar points simultaneously. Instead of solving the orientation and translation for the multi-camera system from the overlapping point correspondences among all the cameras directly, we employ homography, which can map image points with 3D coplanar-referenced points. In our method, we first establish the corresponding relations between each camera by their Euclidean geometries and optimize the homographies of the cameras; then, we solve the orientation and translation for the optimal homographies. The results from simulations and real case experiments show that our approach is accurate and robust for implementation in robotics applications. Finally, a practical implementation in a ping-pong robot is described in order to confirm the validity of our approach.

  17. Multi-view 3D human pose estimation combining single-frame recovery, temporal integration and model adaptation

    NARCIS (Netherlands)

    Hofmann, M.; Gavrila, D.M.

    2009-01-01

    We present a system for the estimation of unconstrained 3D human upper body movement from multiple cameras. Its main novelty lies in the integration of three components: single frame pose recovery, temporal integration and model adaptation. Single frame pose recovery consists of a hypothesis

  18. Estimating the ventilation-perfusion distribution: an ill-posed integral equation problem.

    Science.gov (United States)

    Lim, L L; Whitehead, J

    1992-03-01

    The distribution of ventilation-perfusion ratio over the lung is a useful indicator of the efficiency of lung function. Information about this distribution can be obtained by observing the retention in blood of inert gases passed through the lung. These retentions are related to the ventilation-perfusion distribution through an ill-posed integral equation. An unusual feature of this problem of estimating the ventilation-perfusion distribution is the small amount of data available; typically there are just six data points, as only six gases are used in the experiment. A nonparametric smoothing method is compared to a simpler method that models the distribution as a histogram with five classes. Results from the smoothing method are found to be very unstable. In contrast, the simpler method gives stable solutions with parameters that are physiologically meaningful. It is concluded that while such smoothing methods may be useful for solving some ill-posed integral equation problems, the simpler method is preferable when data are scarce.

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

    Science.gov (United States)

    Pesce, Vincenzo; Lavagna, Michèle; Bevilacqua, Riccardo

    2017-01-01

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

  20. Pose estimation and tracking of non-cooperative rocket bodies using Time-of-Flight cameras

    Science.gov (United States)

    Gómez Martínez, Harvey; Giorgi, Gabriele; Eissfeller, Bernd

    2017-10-01

    This paper presents a methodology for estimating the position and orientation of a rocket body in orbit - the target - undergoing a roto-translational motion, with respect to a chaser spacecraft, whose task is to match the target dynamics for a safe rendezvous. During the rendezvous maneuver the chaser employs a Time-of-Flight camera that acquires a point cloud of 3D coordinates mapping the sensed target surface. Once the system identifies the target, it initializes the chaser-to-target relative position and orientation. After initialization, a tracking procedure enables the system to sense the evolution of the target's pose between frames. The proposed algorithm is evaluated using simulated point clouds, generated with a CAD model of the Cosmos-3M upper stage and the PMD CamCube 3.0 camera specifications.

  1. Pose Estimation from Line Correspondences: A Complete Analysis and a Series of Solutions.

    Science.gov (United States)

    Xu, Chi; Zhang, Lilian; Cheng, Li; Koch, Reinhard

    2017-06-01

    In this paper we deal with the camera pose estimation problem from a set of 2D/3D line correspondences, which is also known as PnL (Perspective-n-Line) problem. We carry out our study by comparing PnL with the well-studied PnP (Perspective-n-Point) problem, and our contributions are three-fold: (1) We provide a complete 3D configuration analysis for P3L, which includes the well-known P3P problem as well as several existing analyses as special cases. (2) By exploring the similarity between PnL and PnP, we propose a new subset-based PnL approach as well as a series of linear-formulation-based PnL approaches inspired by their PnP counterparts. (3) The proposed linear-formulation-based methods can be easily extended to deal with the line and point features simultaneously.

  2. A fast bottom-up approach toward three-dimensional human pose estimation using an array of cameras

    Science.gov (United States)

    Ghaneizad, Maryam; Kavehvash, Zahra; Mehrany, Khashayar; Hosseini, S. M. Ali Tayaranian

    2017-08-01

    In this paper, employing recorded images of multiple cameras, we propose a novel fast approach for three-dimensional (3D) human pose reconstruction. Opening a new framework to the pose estimation application, the proposed method is inspired by optical 3D reconstruction algorithms conventionally used for integral imaging. Thanks to the fact that the pose estimation can be carried out by using only key features of the raw recorded images, the computation time and the complexity of our method are considerably reduced. Furthermore, utilizing the here proposed algorithm, rapid variations in actions can be easily tracked. The validity of the proposed method is demonstrated by several experimental results in different postures.

  3. Latent-Class Hough Forests for 6 DoF Object Pose Estimation.

    Science.gov (United States)

    Tejani, Alykhan; Kouskouridas, Rigas; Doumanoglou, Andreas; Tang, Danhang; Kim, Tae-Kyun

    2018-01-01

    In this paper we present Latent-Class Hough Forests, a method for object detection and 6 DoF pose estimation in heavily cluttered and occluded scenarios. We adapt a state of the art template matching feature into a scale-invariant patch descriptor and integrate it into a regression forest using a novel template-based split function. We train with positive samples only and we treat class distributions at the leaf nodes as latent variables. During testing we infer by iteratively updating these distributions, providing accurate estimation of background clutter and foreground occlusions and, thus, better detection rate. Furthermore, as a by-product, our Latent-Class Hough Forests can provide accurate occlusion aware segmentation masks, even in the multi-instance scenario. In addition to an existing public dataset, which contains only single-instance sequences with large amounts of clutter, we have collected two, more challenging, datasets for multiple-instance detection containing heavy 2D and 3D clutter as well as foreground occlusions. We provide extensive experiments on the various parameters of the framework such as patch size, number of trees and number of iterations to infer class distributions at test time. We also evaluate the Latent-Class Hough Forests on all datasets where we outperform state of the art methods.

  4. Application of structured support vector machine backpropagation to a convolutional neural network for human pose estimation.

    Science.gov (United States)

    Witoonchart, Peerajak; Chongstitvatana, Prabhas

    2017-08-01

    In this study, for the first time, we show how to formulate a structured support vector machine (SSVM) as two layers in a convolutional neural network, where the top layer is a loss augmented inference layer and the bottom layer is the normal convolutional layer. We show that a deformable part model can be learned with the proposed structured SVM neural network by backpropagating the error of the deformable part model to the convolutional neural network. The forward propagation calculates the loss augmented inference and the backpropagation calculates the gradient from the loss augmented inference layer to the convolutional layer. Thus, we obtain a new type of convolutional neural network called an Structured SVM convolutional neural network, which we applied to the human pose estimation problem. This new neural network can be used as the final layers in deep learning. Our method jointly learns the structural model parameters and the appearance model parameters. We implemented our method as a new layer in the existing Caffe library. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. Vision-Based Pose Estimation for Robot-Mediated Hand Telerehabilitation

    Directory of Open Access Journals (Sweden)

    Giuseppe Airò Farulla

    2016-02-01

    Full Text Available Vision-based Pose Estimation (VPE represents a non-invasive solution to allow a smooth and natural interaction between a human user and a robotic system, without requiring complex calibration procedures. Moreover, VPE interfaces are gaining momentum as they are highly intuitive, such that they can be used from untrained personnel (e.g., a generic caregiver even in delicate tasks as rehabilitation exercises. In this paper, we present a novel master–slave setup for hand telerehabilitation with an intuitive and simple interface for remote control of a wearable hand exoskeleton, named HX. While performing rehabilitative exercises, the master unit evaluates the 3D position of a human operator’s hand joints in real-time using only a RGB-D camera, and commands remotely the slave exoskeleton. Within the slave unit, the exoskeleton replicates hand movements and an external grip sensor records interaction forces, that are fed back to the operator-therapist, allowing a direct real-time assessment of the rehabilitative task. Experimental data collected with an operator and six volunteers are provided to show the feasibility of the proposed system and its performances. The results demonstrate that, leveraging on our system, the operator was able to directly control volunteers’ hands movements.

  6. Vision-Based Pose Estimation for Robot-Mediated Hand Telerehabilitation.

    Science.gov (United States)

    Airò Farulla, Giuseppe; Pianu, Daniele; Cempini, Marco; Cortese, Mario; Russo, Ludovico O; Indaco, Marco; Nerino, Roberto; Chimienti, Antonio; Oddo, Calogero M; Vitiello, Nicola

    2016-02-05

    Vision-based Pose Estimation (VPE) represents a non-invasive solution to allow a smooth and natural interaction between a human user and a robotic system, without requiring complex calibration procedures. Moreover, VPE interfaces are gaining momentum as they are highly intuitive, such that they can be used from untrained personnel (e.g., a generic caregiver) even in delicate tasks as rehabilitation exercises. In this paper, we present a novel master-slave setup for hand telerehabilitation with an intuitive and simple interface for remote control of a wearable hand exoskeleton, named HX. While performing rehabilitative exercises, the master unit evaluates the 3D position of a human operator's hand joints in real-time using only a RGB-D camera, and commands remotely the slave exoskeleton. Within the slave unit, the exoskeleton replicates hand movements and an external grip sensor records interaction forces, that are fed back to the operator-therapist, allowing a direct real-time assessment of the rehabilitative task. Experimental data collected with an operator and six volunteers are provided to show the feasibility of the proposed system and its performances. The results demonstrate that, leveraging on our system, the operator was able to directly control volunteers' hands movements.

  7. Tibio-femoral joint constraints for bone pose estimation during movement using multi-body optimization.

    Science.gov (United States)

    Bergamini, E; Pillet, H; Hausselle, J; Thoreux, P; Guerard, S; Camomilla, V; Cappozzo, A; Skalli, W

    2011-04-01

    When using skin markers and stereophotogrammetry for movement analysis, bone pose estimation may be performed using multi-body optimization with the intent of reducing the effect of soft tissue artefacts. When the joint of interest is the knee, improvement of this approach requires defining subject-specific relevant kinematic constraints. The aim of this work was to provide these constraints in the form of plausible values for the distances between origin and insertion of the main ligaments (ligament lengths), during loaded healthy knee flexion, taking into account the indeterminacies associated with landmark identification during anatomical calibration. Ligament attachment sites were identified through virtual palpation on digital bone templates. Attachments sites were estimated for six knee specimens by matching the femur and tibia templates to low-dose stereoradiography images. Movement data were obtained using stereophotogrammetry and pin markers. Relevant ligament lengths for the anterior and posterior cruciate, lateral collateral, and deep and superficial bundles of the medial collateral ligaments (ACL, PCL, LCL, MCLdeep, MCLsup) were calculated. The effect of landmark identification variability was evaluated performing a Monte Carlo simulation on the coordinates of the origin-insertion centroids. The ACL and LCL lengths were found to decrease, and the MCLdeep length to increase significantly during flexion, while variations in PCL and MCLsup length was concealed by the experimental indeterminacy. An analytical model is given that provides subject-specific plausible ligament length variations as functions of the knee flexion angle and that can be incorporated in a multi-body optimization procedure. Copyright © 2011 Elsevier B.V. All rights reserved.

  8. Pose Estimation with a Kinect for Ergonomic Studies: Evaluation of the Accuracy Using a Virtual Mannequin

    Directory of Open Access Journals (Sweden)

    Pierre Plantard

    2015-01-01

    Full Text Available Analyzing human poses with a Kinect is a promising method to evaluate potentials risks of musculoskeletal disorders at workstations. In ecological situations, complex 3D poses and constraints imposed by the environment make it difficult to obtain reliable kinematic information. Thus, being able to predict the potential accuracy of the measurement for such complex 3D poses and sensor placements is challenging in classical experimental setups. To tackle this problem, we propose a new evaluation method based on a virtual mannequin. In this study, we apply this method to the evaluation of joint positions (shoulder, elbow, and wrist, joint angles (shoulder and elbow, and the corresponding RULA (a popular ergonomics assessment grid upper-limb score for a large set of poses and sensor placements. Thanks to this evaluation method, more than 500,000 configurations have been automatically tested, which would be almost impossible to evaluate with classical protocols. The results show that the kinematic information obtained by the Kinect software is generally accurate enough to fill in ergonomic assessment grids. However inaccuracy strongly increases for some specific poses and sensor positions. Using this evaluation method enabled us to report configurations that could lead to these high inaccuracies. As a supplementary material, we provide a software tool to help designers to evaluate the expected accuracy of this sensor for a set of upper-limb configurations. Results obtained with the virtual mannequin are in accordance with those obtained from a real subject for a limited set of poses and sensor placements.

  9. Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D Cameras

    Directory of Open Access Journals (Sweden)

    Xiaoqin Wang

    2014-12-01

    Full Text Available We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, the robots with shared field-of-views estimate their relative poses in pairwise. The system does not need the existence of a single common view shared by all robots, and it works in 3D scenes without any specific calibration pattern or landmark. The proposed scheme distributes working loads evenly in the system, hence it is scalable and the computing power of the participating robots is efficiently used. The performance and robustness were analyzed both on synthetic and experimental data in different environments over a range of system configurations with varying number of robots and poses.

  10. 2D-3D feature association via projective transform invariants for model-based 3D pose estimation

    Science.gov (United States)

    Gedik, O. Serdar; Alatan, A. Aydin

    2012-03-01

    The three dimensional (3D) tracking of rigid objects is required in many applications, such as 3D television (3DTV) and augmented reality. Accurate and robust pose estimates enable improved structure reconstructions for 3DTV and reduce jitter in augmented reality scenarios. On the other hand, reliable 2D-3D feature association is one of the most crucial requirements for obtaining high quality 3D pose estimates. In this paper, a 2D-3D registration method, which is based on projective transform invariants, is proposed. Due to the fact that projective transform invariants are highly dependent on 2D and 3D coordinates, the proposed method relies on pose consistencies in order to increase robustness of 2D-3D association. The reliability of the approach is shown by comparisons with RANSAC, perspective factorization and SoftPOSIT based methods on real and artificial data.

  11. Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces

    DEFF Research Database (Denmark)

    Buch, Anders Glent; Kraft, Dirk; Kämäräinen, Joni-Kristian

    2013-01-01

    We present a system for detecting the pose of rigid objects using texture and contour information. From a stereo image view of a scene, a sparse hierarchical scene representation is reconstructed using an early cognitive vision system. We define an object model in terms of a simple context...... descriptor of the contour and texture features to provide a sparse, yet descriptive object representation. Using our descriptors, we do a search in the correspondence space to perform outlier removal and compute the object pose. We perform an extensive evaluation of our approach with stereo images...

  12. Estimating IMU heading error from SAR images.

    Energy Technology Data Exchange (ETDEWEB)

    Doerry, Armin Walter

    2009-03-01

    Angular orientation errors of the real antenna for Synthetic Aperture Radar (SAR) will manifest as undesired illumination gradients in SAR images. These gradients can be measured, and the pointing error can be calculated. This can be done for single images, but done more robustly using multi-image methods. Several methods are provided in this report. The pointing error can then be fed back to the navigation Kalman filter to correct for problematic heading (yaw) error drift. This can mitigate the need for uncomfortable and undesired IMU alignment maneuvers such as S-turns.

  13. Voxel-based registration of simulated and real patient CBCT data for accurate dental implant pose estimation

    Science.gov (United States)

    Moreira, António H. J.; Queirós, Sandro; Morais, Pedro; Rodrigues, Nuno F.; Correia, André Ricardo; Fernandes, Valter; Pinho, A. C. M.; Fonseca, Jaime C.; Vilaça, João. L.

    2015-03-01

    The success of dental implant-supported prosthesis is directly linked to the accuracy obtained during implant's pose estimation (position and orientation). Although traditional impression techniques and recent digital acquisition methods are acceptably accurate, a simultaneously fast, accurate and operator-independent methodology is still lacking. Hereto, an image-based framework is proposed to estimate the patient-specific implant's pose using cone-beam computed tomography (CBCT) and prior knowledge of implanted model. The pose estimation is accomplished in a threestep approach: (1) a region-of-interest is extracted from the CBCT data using 2 operator-defined points at the implant's main axis; (2) a simulated CBCT volume of the known implanted model is generated through Feldkamp-Davis-Kress reconstruction and coarsely aligned to the defined axis; and (3) a voxel-based rigid registration is performed to optimally align both patient and simulated CBCT data, extracting the implant's pose from the optimal transformation. Three experiments were performed to evaluate the framework: (1) an in silico study using 48 implants distributed through 12 tridimensional synthetic mandibular models; (2) an in vitro study using an artificial mandible with 2 dental implants acquired with an i-CAT system; and (3) two clinical case studies. The results shown positional errors of 67+/-34μm and 108μm, and angular misfits of 0.15+/-0.08° and 1.4°, for experiment 1 and 2, respectively. Moreover, in experiment 3, visual assessment of clinical data results shown a coherent alignment of the reference implant. Overall, a novel image-based framework for implants' pose estimation from CBCT data was proposed, showing accurate results in agreement with dental prosthesis modelling requirements.

  14. Convergence rate estimates for Tikhonov's scheme as applied to ill-posed nonconvex optimization problems

    Science.gov (United States)

    Kokurin, M. Yu.

    2017-07-01

    We examine the convergence rate of approximations generated by Tikhonov's scheme as applied to ill-posed constrained optimization problems with general smooth functionals on a convex closed subset of a Hilbert space. Assuming that the solution satisfies a source condition involving the second derivative of the cost functional and depending on the form of constraints, we establish the convergence rate of the Tikhonov approximations in the cases of exact and approximately specified functionals.

  15. A Role for MST Neurons in Heading Estimation

    Science.gov (United States)

    Stone, L. S.; Perrone, J. A.

    1994-01-01

    A template model of human visual self-motion perception, which uses neurophysiologically realistic "heading detectors", is consistent with numerous human psychophysical results including the failure of humans to estimate their heading (direction of forward translation) accurately under certain visual conditions. We tested the model detectors with stimuli used by others in single-unit studies. The detectors showed emergent properties similar to those of MST neurons: (1) Sensitivity to non-preferred flow; Each detector is tuned to a specific combination of flow components and its response is systematically reduced by the addition of nonpreferred flow, and (2) Position invariance; The detectors maintain their apparent preference for particular flow components over large regions of their receptive fields. It has been argued that this latter property is incompatible with MST playing a role in heading perception. The model however demonstrates how neurons with the above response properties could still support accurate heading estimation within extrastriate cortical maps.

  16. Tracking a Driver's Face against Extreme Head Poses and Inference of Drowsiness Using a Hidden Markov Model

    National Research Council Canada - National Science Library

    In-Ho Choi; Chan-Hee Jeong; Yong-Guk Kim

    2016-01-01

    .... Since a driver in the natural driving condition moves his head in diverse ways and his face is often occluded by his hand or the wheel, it should be a great challenge for the standard face models...

  17. Model-free head pose estimation based on shape factorisation and particle filtering

    OpenAIRE

    Cristina, Stefania; Camilleri, Kenneth P.; 16th International Conference on Computer Analysis of Images and Patterns, CAIP 2015

    2015-01-01

    This work forms part of the project Eye-Communicate funded by the Malta Council for Science and Technology through the National Research & Innovation Programme (2012) under Research Grant No. R&I-2012-057.

  18. Real-time human pose estimation and gesture recognition from depth images using superpixels and SVM classifier.

    Science.gov (United States)

    Kim, Hanguen; Lee, Sangwon; Lee, Dongsung; Choi, Soonmin; Ju, Jinsun; Myung, Hyun

    2015-05-26

    In this paper, we present human pose estimation and gesture recognition algorithms that use only depth information. The proposed methods are designed to be operated with only a CPU (central processing unit), so that the algorithm can be operated on a low-cost platform, such as an embedded board. The human pose estimation method is based on an SVM (support vector machine) and superpixels without prior knowledge of a human body model. In the gesture recognition method, gestures are recognized from the pose information of a human body. To recognize gestures regardless of motion speed, the proposed method utilizes the keyframe extraction method. Gesture recognition is performed by comparing input keyframes with keyframes in registered gestures. The gesture yielding the smallest comparison error is chosen as a recognized gesture. To prevent recognition of gestures when a person performs a gesture that is not registered, we derive the maximum allowable comparison errors by comparing each registered gesture with the other gestures. We evaluated our method using a dataset that we generated. The experiment results show that our method performs fairly well and is applicable in real environments.

  19. Real-Time Human Pose Estimation and Gesture Recognition from Depth Images Using Superpixels and SVM Classifier

    Directory of Open Access Journals (Sweden)

    Hanguen Kim

    2015-05-01

    Full Text Available In this paper, we present human pose estimation and gesture recognition algorithms that use only depth information. The proposed methods are designed to be operated with only a CPU (central processing unit, so that the algorithm can be operated on a low-cost platform, such as an embedded board. The human pose estimation method is based on an SVM (support vector machine and superpixels without prior knowledge of a human body model. In the gesture recognition method, gestures are recognized from the pose information of a human body. To recognize gestures regardless of motion speed, the proposed method utilizes the keyframe extraction method. Gesture recognition is performed by comparing input keyframes with keyframes in registered gestures. The gesture yielding the smallest comparison error is chosen as a recognized gesture. To prevent recognition of gestures when a person performs a gesture that is not registered, we derive the maximum allowable comparison errors by comparing each registered gesture with the other gestures. We evaluated our method using a dataset that we generated. The experiment results show that our method performs fairly well and is applicable in real environments.

  20. Blind estimation of a ship's relative wave heading

    DEFF Research Database (Denmark)

    Nielsen, Ulrik Dam; Iseki, Toshio

    2012-01-01

    This article proposes a method to estimate a ship’s relative heading against the waves. The procedure relies purely on ship- board measurements of global responses such as motion components, accelerations and the bending moment amidships. There is no particular (mathematical) model connected...

  1. Estimation of the environmental risk posed by landfills using chemical, microbiological and ecotoxicological testing of leachates.

    Science.gov (United States)

    Matejczyk, Marek; Płaza, Grażyna A; Nałęcz-Jawecki, Grzegorz; Ulfig, Krzysztof; Markowska-Szczupak, Agata

    2011-02-01

    parameters of the landfill leachates should be analyzed together to assess the environmental risk posed by landfill emissions. Copyright © 2010 Elsevier Ltd. All rights reserved.

  2. Text-pose estimation in 3D using edge-direction distributions

    NARCIS (Netherlands)

    Bulacu, M.L.; Schomaker, L.R.B.; Kamel, M.; Campilho, A.

    2005-01-01

    This paper presents a method for estimating the orientation of planar text surfaces using the edge-direction distribution (EDD) extracted from the image as input to a neural network. We consider canonical rotations and we developed a mathematical model to analyze how the EDD changes with the

  3. Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

    DEFF Research Database (Denmark)

    Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen

    2009-01-01

    uses observed information from a laser range finder to detect persons and their position relative to the robot. This information together with the motion of the robot itself is fed through a Kalman filter, which utilizes a model of the human kinematic movement to produce an estimate of the person...

  4. Estimating the extent of the health hazard posed by high-production volume chemicals.

    OpenAIRE

    Cunningham, A.R.; Rosenkranz, H S

    2001-01-01

    We used structure-activity relationship modeling to estimate the number of toxic chemicals among the high-production volume (HPV) group. We selected 200 chemicals from among the HPV chemical list and predicted the potential of each for its ability to induce a variety of adverse effects including genotoxicity, carcinogenicity, developmental, and systemic toxicity. We found a significantly less than expected proportion of toxic chemicals among the HPV sample when compared to a reference set of ...

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

    Science.gov (United States)

    Kniaz, V. V.

    2016-06-01

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

  6. Simultaneous head tissue conductivity and EEG source location estimation.

    Science.gov (United States)

    Akalin Acar, Zeynep; Acar, Can E; Makeig, Scott

    2016-01-01

    Accurate electroencephalographic (EEG) source localization requires an electrical head model incorporating accurate geometries and conductivity values for the major head tissues. While consistent conductivity values have been reported for scalp, brain, and cerebrospinal fluid, measured brain-to-skull conductivity ratio (BSCR) estimates have varied between 8 and 80, likely reflecting both inter-subject and measurement method differences. In simulations, mis-estimation of skull conductivity can produce source localization errors as large as 3cm. Here, we describe an iterative gradient-based approach to Simultaneous tissue Conductivity And source Location Estimation (SCALE). The scalp projection maps used by SCALE are obtained from near-dipolar effective EEG sources found by adequate independent component analysis (ICA) decomposition of sufficient high-density EEG data. We applied SCALE to simulated scalp projections of 15cm(2)-scale cortical patch sources in an MR image-based electrical head model with simulated BSCR of 30. Initialized either with a BSCR of 80 or 20, SCALE estimated BSCR as 32.6. In Adaptive Mixture ICA (AMICA) decompositions of (45-min, 128-channel) EEG data from two young adults we identified sets of 13 independent components having near-dipolar scalp maps compatible with a single cortical source patch. Again initialized with either BSCR 80 or 25, SCALE gave BSCR estimates of 34 and 54 for the two subjects respectively. The ability to accurately estimate skull conductivity non-invasively from any well-recorded EEG data in combination with a stable and non-invasively acquired MR imaging-derived electrical head model could remove a critical barrier to using EEG as a sub-cm(2)-scale accurate 3-D functional cortical imaging modality. Copyright © 2015 Elsevier Inc. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    Frank J. Wouda

    2016-12-01

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

  8. Robust 3D object localization and pose estimation for random bin picking with the 3DMaMa algorithm

    Science.gov (United States)

    Skotheim, Øystein; Thielemann, Jens T.; Berge, Asbjørn; Sommerfelt, Arne

    2010-02-01

    Enabling robots to automatically locate and pick up randomly placed and oriented objects from a bin is an important challenge in factory automation, replacing tedious and heavy manual labor. A system should be able to recognize and locate objects with a predefined shape and estimate the position with the precision necessary for a gripping robot to pick it up. We describe a system that consists of a structured light instrument for capturing 3D data and a robust approach for object location and pose estimation. The method does not depend on segmentation of range images, but instead searches through pairs of 2D manifolds to localize candidates for object match. This leads to an algorithm that is not very sensitive to scene complexity or the number of objects in the scene. Furthermore, the strategy for candidate search is easily reconfigurable to arbitrary objects. Experiments reported in this paper show the utility of the method on a general random bin picking problem, in this paper exemplified by localization of car parts with random position and orientation. Full pose estimation is done in less than 380 ms per image. We believe that the method is applicable for a wide range of industrial automation problems where precise localization of 3D objects in a scene is needed.

  9. ILIAD Testing; and a Kalman Filter for 3-D Pose Estimation

    Science.gov (United States)

    Richardson, A. O.

    1996-01-01

    This report presents the results of a two-part project. The first part presents results of performance assessment tests on an Internet Library Information Assembly Data Base (ILIAD). It was found that ILLAD performed best when queries were short (one-to-three keywords), and were made up of rare, unambiguous words. In such cases as many as 64% of the typically 25 returned documents were found to be relevant. It was also found that a query format that was not so rigid with respect to spelling errors and punctuation marks would be more user-friendly. The second part of the report shows the design of a Kalman Filter for estimating motion parameters of a three dimensional object from sequences of noisy data derived from two-dimensional pictures. Given six measured deviation values represendng X, Y, Z, pitch, yaw, and roll, twelve parameters were estimated comprising the six deviations and their time rate of change. Values for the state transiton matrix, the observation matrix, the system noise covariance matrix, and the observation noise covariance matrix were determined. A simple way of initilizing the error covariance matrix was pointed out.

  10. Pose estimation and representation of cylinders from single two-dimensional images in modeling remotely operated vehicle (ROV) environments

    Science.gov (United States)

    Volden, Rune

    1994-10-01

    In this paper a method is proposed on how to extract cylinders from single 2D images. The operator restricts the search area for the image ellipse from the projected cylinder, and a least- square ellipse is obtained and verified by the operator. By knowing the radius and length of the cylinder, an algorithm using projective geometry back projects the image ellipse to a circle in three-space. The center and normal vector to this circle are obtained. If both cylinder tangents are visible, a better estimate of cylinder axis is obtained. From this a synthetic cylinder is computed and projected onto the original image. If the synthetic cylinder is a good fit, it is transferred to a CAD model of the environment, which is updated. The operator receives an updated version of the environment, which either includes a new cylinder or a better pose estimate of one of the previously identified cylinders.

  11. Application of unscented Kalman filter for robust pose estimation in image-guided surgery

    Science.gov (United States)

    Vaccarella, Alberto; De Momi, Elena; Valenti, Marta; Ferrigno, Giancarlo; Enquobahrie, Andinet

    2012-02-01

    Image-guided surgery (IGS) allows clinicians to view current, intra-operative scenes superimposed on preoperative images (typically MRI or CT scans). IGS systems use localization systems to track and visualize surgical tools overlaid on top of preoperative images of the patient during surgery. The most commonly used localization systems in the Operating Rooms (OR) are optical tracking systems (OTS) due to their ease of use and cost effectiveness. However, OTS' suffer from the major drawback of line-of-sight requirements. State space approaches based on different implementations of the Kalman filter have recently been investigated in order to compensate for short line-of-sight occlusion. However, the proposed parameterizations for the rigid body orientation suffer from singularities at certain values of rotation angles. The purpose of this work is to develop a quaternion-based Unscented Kalman Filter (UKF) for robust optical tracking of both position and orientation of surgical tools in order to compensate marker occlusion issues. This paper presents preliminary results towards a Kalman-based Sensor Management Engine (SME). The engine will filter and fuse multimodal tracking streams of data. This work was motivated by our experience working in robot-based applications for keyhole neurosurgery (ROBOCAST project). The algorithm was evaluated using real data from NDI Polaris tracker. The results show that our estimation technique is able to compensate for marker occlusion with a maximum error of 2.5° for orientation and 2.36 mm for position. The proposed approach will be useful in over-crowded state-of-the-art ORs where achieving continuous visibility of all tracked objects will be difficult.

  12. Aircraft Attitude/Heading Estimation Using a Dipole Triad Antenna

    Directory of Open Access Journals (Sweden)

    He Min

    2013-06-01

    Full Text Available This paper performs aircraft attitude/heading estimation using an airborne dipole triad antenna. The signal model is given with the parameters such as the wave Direction Of Arrival (DOA and state of polarization. The algorithms for estimating the source DOA and electric ellipse orientation angle are presented along with their statistical performance analysis. From these parameters, the aircraft gesture angles about pitching, yawing, and rolling, which are needed by autopilot, are produced. Simulation results validate the proposed algorithm’s efficacy.

  13. The difference between registered natural head position and estimated natural head position in three dimensions.

    Science.gov (United States)

    Zhu, S; Keeling, A; Hsung, T C; Yang, Y; Khambay, B

    2018-02-01

    This study determined the intra-rater and inter-rater reliability of re-orientating three-dimensional (3D) facial images into the estimated natural head position. Three-dimensional facial images of 15 pre-surgical class III orthognathic patients were obtained and automatically re-orientated into natural head position (RNHP) using a 3D stereophotogrammetry system and in-house software. Six clinicians were asked to estimate the NHP of these patients (ENHP); they re-estimated five randomly selected 3D images after a 2-week interval. The differences in yaw, roll, pitch, and chin position between RNHP and ENHP were measured. For intra-rater reliability, the intra-class correlation coefficient (ICC) values ranged from 0.55 to 0.77, representing moderate reliability for roll, yaw, pitch, and chin position, while for inter-rater reliability, the ICC values ranged from 0.38 to 0.58, indicating poor to moderate reliability. The median difference between ENHP and RNHP was small for roll and yaw, but larger for pitch. There was a tendency for the clinicians to estimate NHP with the chin tipped more posteriorly (6.3±5.2mm) compared to RNHP, reducing the severity of the skeletal deformity in the anterior-posterior direction. Copyright © 2017 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

  14. Fuzzy-Appearance Manifold and Fuzzy-Nearest Distance Calculation for Model-Less 3D Pose Estimation of Degraded Face Images

    Directory of Open Access Journals (Sweden)

    Benyamin Kusumoputro

    2013-01-01

    Full Text Available This paper presents the development of fuzzy-appearance manifold and fuzzy-nearest distance calculation in the eigenspace domain for pose estimation of degraded face images. In order to obtain a robust pose estimation system which can deal with the fuzziness of face data caused by statistical errors, we proposed the fuzzy-vector representation in eigenspace domain of the face images. Using fuzzy-vector representations, all of the crisp vectors of face data in the eigenspace domain are firstly transformed into fuzzy-vectors as fuzzy-points. Next, the fuzzy-appearance manifold is constructed from all the available fuzzy-points and the fuzzy-nearest distance calculation is proposed as the classifier of the pose estimation system. The pose estimation of an unknown face image is performed by firstly being projected onto the eigenspace domain then transformed to become an unknown fuzzy-point, and its fuzzy-distance with all of the available fuzzy-points in the fuzzy-appearance manifold will be calculated. The fuzzy-point in the manifold which has the nearest distance to that unknown fuzzy-point will be determined as the pose position of the unknown face image. In the experiment, face images with various quality degradation effects were used. The results show that the system could maintain high recognition rates for estimating the pose position of the degraded face images.

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

    Science.gov (United States)

    Alatise, Mary B; Hancke, Gerhard P

    2017-09-21

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

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

    Directory of Open Access Journals (Sweden)

    Mary B. Alatise

    2017-09-01

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

  17. Sensitivity of joint kinematics and kinetics to different pose estimation algorithms and joint constraints in the elderly.

    Science.gov (United States)

    Moniz-Pereira, Vera; Cabral, Silvia; Carnide, Filomena; Veloso, António P

    2014-06-01

    The purpose of this research was to study the sensitivity of lower limb joint kinematics and kinetics, calculated during different functional tasks (walking, stair descent and stair ascent) in a sample of older adults, to different pose estimation algorithms and models' joint constraints. Three models were developed and optimized differently: in one model, each segment had 6 degrees of freedom (segment optimization, SO), while in the other two, global optimization (GO) was used, with different joint constraints: (1) GO, allowing all joint rotations; (2) GOR, allowing three rotations at the hip, one at the knee (flexion/extension) and two at the ankle (dorsi/plantar flexion and eversion/inversion). The results showed that joint angles are more sensitive to the model's constraints than joint moments and, the more restrictive the model, the higher the differences between models, especially for the frontal and transverse planes (max. RMS difference during gait: 11.7 degrees (64%) vs 0.12 N·m/kg (35.4%). In addition, except for knee abduction/adduction angle, differences between SO and GO models were relatively low. Since GO avoids the nonanatomical dislocations sometimes observed in SO, choosing this model seems to be reasonable for future studies with a similar sample and study design.

  18. Intelligent information loss: the coding of facial identity, head pose, and non-face information in the macaque face patch system.

    Science.gov (United States)

    Meyers, Ethan M; Borzello, Mia; Freiwald, Winrich A; Tsao, Doris

    2015-05-06

    Faces are a behaviorally important class of visual stimuli for primates. Recent work in macaque monkeys has identified six discrete face areas where most neurons have higher firing rates to images of faces compared with other objects (Tsao et al., 2006). While neurons in these areas appear to have different tuning (Freiwald and Tsao, 2010; Issa and DiCarlo, 2012), exactly what types of information and, consequently, which visual behaviors neural populations within each face area can support, is unknown. Here we use population decoding to better characterize three of these face patches (ML/MF, AL, and AM). We show that neural activity in all patches contains information that discriminates between the broad categories of face and nonface objects, individual faces, and nonface stimuli. Information is present in both high and lower firing rate regimes. However, there were significant differences between the patches, with the most anterior patch showing relatively weaker representation of nonface stimuli. Additionally, we find that pose-invariant face identity information increases as one moves to more anterior patches, while information about the orientation of the head decreases. Finally, we show that all the information we can extract from the population is present in patterns of activity across neurons, and there is relatively little information in the total activity of the population. These findings give new insight into the representations constructed by the face patch system and how they are successively transformed. Copyright © 2015 the authors 0270-6474/15/357069-13$15.00/0.

  19. Simultaneous Multi-Structure Segmentation and 3D Nonrigid Pose Estimation in Image-Guided Robotic Surgery.

    Science.gov (United States)

    Nosrati, Masoud S; Abugharbieh, Rafeef; Peyrat, Jean-Marc; Abinahed, Julien; Al-Alao, Osama; Al-Ansari, Abdulla; Hamarneh, Ghassan

    2016-01-01

    In image-guided robotic surgery, segmenting the endoscopic video stream into meaningful parts provides important contextual information that surgeons can exploit to enhance their perception of the surgical scene. This information provides surgeons with real-time decision-making guidance before initiating critical tasks such as tissue cutting. Segmenting endoscopic video is a challenging problem due to a variety of complications including significant noise attributed to bleeding and smoke from cutting, poor appearance contrast between different tissue types, occluding surgical tools, and limited visibility of the objects' geometries on the projected camera views. In this paper, we propose a multi-modal approach to segmentation where preoperative 3D computed tomography scans and intraoperative stereo-endoscopic video data are jointly analyzed. The idea is to segment multiple poorly visible structures in the stereo/multichannel endoscopic videos by fusing reliable prior knowledge captured from the preoperative 3D scans. More specifically, we estimate and track the pose of the preoperative models in 3D and consider the models' non-rigid deformations to match with corresponding visual cues in multi-channel endoscopic video and segment the objects of interest. Further, contrary to most augmented reality frameworks in endoscopic surgery that assume known camera parameters, an assumption that is often violated during surgery due to non-optimal camera calibration and changes in camera focus/zoom, our method embeds these parameters into the optimization hence correcting the calibration parameters within the segmentation process. We evaluate our technique on synthetic data, ex vivo lamb kidney datasets, and in vivo clinical partial nephrectomy surgery with results demonstrating high accuracy and robustness.

  20. Estimating Contact Exposure in Football Using the Head Impact Exposure Estimate.

    Science.gov (United States)

    Kerr, Zachary Y; Littleton, Ashley C; Cox, Leah M; DeFreese, J D; Varangis, Eleanna; Lynall, Robert C; Schmidt, Julianne D; Marshall, Stephen W; Guskiewicz, Kevin M

    2015-07-15

    Over the past decade, there has been significant debate regarding the effect of cumulative subconcussive head impacts on short and long-term neurological impairment. This debate remains unresolved, because valid epidemiological estimates of athletes' total contact exposure are lacking. We present a measure to estimate the total hours of contact exposure in football over the majority of an athlete's lifespan. Through a structured oral interview, former football players provided information related to primary position played and participation in games and practice contacts during the pre-season, regular season, and post-season of each year of their high school, college, and professional football careers. Spring football for college was also included. We calculated contact exposure estimates for 64 former football players (n = 32 college football only, n = 32 professional and college football). The head impact exposure estimate (HIEE) discriminated between individuals who stopped after college football, and individuals who played professional football (p < 0.001). The HIEE measure was independent of concussion history (p = 0.82). Estimating total hours of contact exposure may allow for the detection of differences between individuals with variation in subconcussive impacts, regardless of concussion history. This measure is valuable for the surveillance of subconcussive impacts and their associated potential negative effects.

  1. Locally extra-optimal regularizing algorithms and a posteriori estimates of the accuracy for ill-posed problems with discontinuous solutions

    Science.gov (United States)

    Leonov, A. S.

    2016-01-01

    Local a posteriori estimates of the accuracy of approximate solutions to ill-posed inverse problems with discontinuous solutions from the classes of functions of several variables with bounded variations of the Hardy or Giusti type are studied. Unlike global estimates (in the norm), local estimates of accuracy are carried out using certain linear estimation functionals (e.g., using the mean value of the solution on a given fragment of its support). The concept of a locally extra-optimal regularizing algorithm for solving ill-posed inverse problems, which has an optimal in order local a posteriori estimate, was introduced. A method for calculating local a posteriori estimates of accuracy with the use of some distinguished classes of linear functionals for the problems with discontinuous solutions is proposed. For linear inverse problems, the method is bases on solving specialized convex optimization problems. Examples of locally extra-optimal regularizing algorithms and results of numerical experiments on a posteriori estimation of the accuracy of solutions for different linear estimation functionals are presented.

  2. Validation of HeadCount-2w for estimation of two-week heading: Comparison to daily reporting in adult amateur player.

    Science.gov (United States)

    Lipton, Michael L; Ifrah, Chloe; Stewart, Walter F; Fleysher, Roman; Sliwinski, Martin J; Kim, Mimi; Lipton, Richard B

    2017-08-24

    To validate the HeadCount-2w questionnaire for estimation of 2-week soccer heading by comparison to daily electronic diary reporting over the same two-week period. Prospective observational study. Adult amateur soccer players completed HeadCount-daily, comprising 14 daily at-home assessments of soccer play and heading via a tablet PC. Following the 14day period, players completed HeadCount-2w, a web-based two-week-recall questionnaire on soccer and heading. intraclass correlation coefficient (ICC) was estimated between HeadCount-daily, the reference standard, and HeadCount-2w estimates of heading during the same 2-week period. 53 participants (38 men) reported a mean of 24.36 (median=11.76) headers during 2 weeks via HeadCount-daily and a mean of 38.34 (median=15.0) headers for the same 2 weeks via HeadCount-2w. The ICC comparing 2-week heading from HeadCount-daily and HeadCount-2w was 0.85. Linear regression of the log-transformed Headcount-daily on HeadCount-2w data yielded a slope of 0.71 (pamateur players, supporting its use in future research and as a simple and low-cost technique for exposure monitoring. Copyright © 2017 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

  3. Estimation of eye absorbed doses in head & neck radiotherapy practices using thermoluminescent detectors

    Directory of Open Access Journals (Sweden)

    Gh Bagheri

    2011-09-01

    Full Text Available  Determination of eye absorbed dose during head & neck radiotherapy is essential to estimate the risk of cataract. Dose measurements were made in 20 head & neck cancer patients undergoing 60Co radiotherapy using LiF(MCP thermoluminescent dosimeters. Head & neck cancer radiotherapy was delivered by fields using SAD & SSD techniques. For each patient, 3 TLD chips were placed on each eye. Head & neck dose was about 700-6000 cGy in 8-28 equal fractions. The range of eye dose is estimated to be (3.49-639.1 mGy with a mean of maximum dose (98.114 mGy, which is about 3 % of head & neck dose. Maximum eye dose was observed for distsnces of about 3 cm from edge of the field to eye.

  4. Possible malfunction in widely used methane sampler deserves attention but poses limited implications for supply chain emission estimates

    Directory of Open Access Journals (Sweden)

    Ramón A. Alvarez

    2016-12-01

    Full Text Available Abstract Estimates of methane emissions from natural gas production sites in the United States based on recent studies have been questioned due to possible malfunction of the Bacharach Hi Flow® Sampler (BHFS, the primary measurement instrument used for two out of five source types examined in those studies (equipment leaks and chemical injection pumps. Without assessing whether the BHFS malfunction occurred in those studies, we constrain the possible underestimation of emissions associated with the BHFS-based results by excluding potentially affected measurements. Assuming leak emission rates are similar for sites with low and high methane content, U.S. methane emissions from equipment leaks and chemical injection pumps in recent studies could be underestimated by up to 40–80% due to a malfunctioning BHFS. We discuss uncertainties associated with this estimate. While a 40–80% underestimation is important when characterizing individual source categories, the potential implications are attenuated when aggregating emissions across the five sources examined in the recent studies (<12–24%, across all sources in the natural gas production segment (<7–14%, or across the entire supply chain (<2–5%. Therefore, potential errors caused by BHFS malfunction in recent studies would not substantially alter estimates of methane emissions from the U.S. natural gas supply chain. The possible malfunction of such a widely-used instrument deserves further attention to ensure that its use in quantifying emissions from individual supply chain components is not compromised.

  5. Using doppler radar images to estimate aircraft navigational heading error

    Science.gov (United States)

    Doerry, Armin W [Albuquerque, NM; Jordan, Jay D [Albuquerque, NM; Kim, Theodore J [Albuquerque, NM

    2012-07-03

    A yaw angle error of a motion measurement system carried on an aircraft for navigation is estimated from Doppler radar images captured using the aircraft. At least two radar pulses aimed at respectively different physical locations in a targeted area are transmitted from a radar antenna carried on the aircraft. At least two Doppler radar images that respectively correspond to the at least two transmitted radar pulses are produced. These images are used to produce an estimate of the yaw angle error.

  6. Piecewise-rigid 2D-3D registration for pose estimation of snake-like manipulator using an intraoperative x-ray projection

    Science.gov (United States)

    Otake, Y.; Murphy, R. J.; Kutzer, M. D.; Taylor, R. H.; Armand, M.

    2014-03-01

    Background: Snake-like dexterous manipulators may offer significant advantages in minimally-invasive surgery in areas not reachable with conventional tools. Precise control of a wire-driven manipulator is challenging due to factors such as cable deformation, unknown internal (cable friction) and external forces, thus requiring correcting the calibration intraoperatively by determining the actual pose of the manipulator. Method: A method for simultaneously estimating pose and kinematic configuration of a piecewise-rigid object such as a snake-like manipulator from a single x-ray projection is presented. The method parameterizes kinematics using a small number of variables (e.g., 5), and optimizes them simultaneously with the 6 degree-of-freedom pose parameter of the base link using an image similarity between digitally reconstructed radiographs (DRRs) of the manipulator's attenuation model and the real x-ray projection. Result: Simulation studies assumed various geometric magnifications (1.2-2.6) and out-of-plane angulations (0°-90°) in a scenario of hip osteolysis treatment, which demonstrated the median joint angle error was 0.04° (for 2.0 magnification, +/-10° out-of-plane rotation). Average computation time was 57.6 sec with 82,953 function evaluations on a mid-range GPU. The joint angle error remained lower than 0.07° while out-of-plane rotation was 0°-60°. An experiment using video images of a real manipulator demonstrated a similar trend as the simulation study except for slightly larger error around the tip attributed to accumulation of errors induced by deformation around each joint not modeled with a simple pin joint. Conclusions: The proposed approach enables high precision tracking of a piecewise-rigid object (i.e., a series of connected rigid structures) using a single projection image by incorporating prior knowledge about the shape and kinematic behavior of the object (e.g., each rigid structure connected by a pin joint parameterized by a

  7. Psychophysical estimation of the effects of aging on direction-of-heading judgments

    Science.gov (United States)

    Raghuram, Aparna; Lakshminarayanan, Vasudevan

    2011-11-01

    We conducted psychophysical experiments on direction-of-heading judgments using old and young subjects. Subjects estimated heading directions on a translation perpendicular to the vertical plane (frontoparallel); we found that heading judgments were affected by age. Increasing the random dot density in the stimulus from 24 to 400 dots did not improve threshold significantly. Older subjects started performing worse at the highest dots condition of 400. The speed of the radial motion was important, as heading judgments with slower radial motion were difficult to judge than faster radial motion, as the focus of expansion was easier to locate owing to the larger displacement of dots. Gender differences indicated that older women had a higher threshold than older men. This was only significant for the faster simulated radial speed. A general trend of women having a higher threshold than men was noticed.

  8. Body height estimation from head and face dimensions: a different method.

    Science.gov (United States)

    Pelin, Can; Zağyapan, Ragiba; Yazici, Canan; Kürkçüoğlu, Ayla

    2010-09-01

    As there are cases brought for forensic examination where only the craniofacial region is available, estimation of stature from craniofacial dimensions is without doubt important in forensic cases. The study presented here attempts to estimate stature from craniofacial dimensions in the Turkish population. In the second phase of the study, the correlations between craniofacial dimensions and stature were also evaluated according to different head and face types. All measurements were taken from 286 healthy males with a mean age of 22.71 ± 4.86 years. The sample was then reclassified according to different head and face indexes. For the whole sample, correlation coefficients were low, changing only between 0.012 and 0.229. Thus, no significant increase in correlation coefficients was observed after the samples had been reevaluated according to different head and face types. As a conclusion, craniofacial dimensions are not good predictors for body height for the Turkish population. © 2010 American Academy of Forensic Sciences.

  9. Head mounted device for point-of-gaze estimation in three dimensions

    DEFF Research Database (Denmark)

    Lidegaard, Morten; Witzner Hansen, Dan; Krüger, Norbert

    2014-01-01

    This paper presents a fully calibrated extended geometric approach for gaze estimation in three dimensions (3D). The methodology is based on a geometric approach utilising a fully calibrated binocular setup constructed as a head-mounted system. The approach is based on utilisation of two ordinary...

  10. An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference

    DEFF Research Database (Denmark)

    Wang, Yunlong; Soltani, Mohsen; Hussain, Dil muhammed Akbar

    2016-01-01

    The output of the attitude determination systems suffers from large errors in case of accelerometer malfunctions. In this paper, an attitude estimator, based on Virtual Horizontal Reference (VHR), is designed for an Attitude Heading and Reference System (AHRS) to cope with this problem. The VHR m...

  11. Evaluation of data worth of hydraulic head and temperature in estimating hydraulic conductivities

    Science.gov (United States)

    Ju, L.; Zhang, J.; Zeng, L.

    2016-12-01

    Hydraulic head and temperature have been extensively used in the inverse modeling for hyporheic exchange. It is of interest to compare the data worth (DW) of these measurements in estimating hydraulic conductivity. In this study, based on the relative entropy, we conducted a fully Bayesian DW analysis for these two types of measurements. Then, sandbox experiments were implemented to validate the numerical DW analysis results. A Bayesian estimation method, i.e., the Markov Chain Monte Carlo (MCMC) method, was employed to estimate the hydraulic conductivity field based on the single or both types of measurements. Our findings show that, with the typical in-situ observing error level, DW of the hydraulic head measurements is the lowest, while the combination of both measurements gives the highest DW value. This work is the first work of fully Bayesian DW analysis for hyporheic exchange, which has important applications in the optimal design of data-collection strategy for hyporheic studies.

  12. Active Head Motion Compensation of TMS Robotic System Using Neuro-Fuzzy Estimation

    Directory of Open Access Journals (Sweden)

    Wan Zakaria W.N.

    2016-01-01

    Full Text Available Transcranial Magnetic Stimulation (TMS allows neuroscientist to study human brain behaviour and also become an important technique for changing the activity of brain neurons and the functions they sub serve. However, conventional manual procedure and robotized TMS are currently unable to precisely position the TMS coil because of unconstrained subject’s head movement and excessive contact force between the coil and subject’s head. This paper addressed this challenge by proposing an adaptive neuro-fuzzy force control to enable low contact force with a moving target surface. A learning and adaption mechanism is included in the control scheme to improve position disturbance estimation. The results show the ability of the proposed force control scheme to compensate subject’s head motions while maintaining desired contact force, thus allowing for more accurate and repeatable TMS procedures.

  13. Estimation of head impact exposure in high school football: implications for regulating contact practices.

    Science.gov (United States)

    Broglio, Steven P; Martini, Douglas; Kasper, Luke; Eckner, James T; Kutcher, Jeffery S

    2013-12-01

    Increased attention is being placed on the role of subconcussive impacts to the head during football participation and long-term cognitive health. Some have suggested that mitigating impacts to the head can be achieved by reducing or eliminating contact football practices. The effect that this might have on the number and magnitude of impacts is unknown. To estimate the effect of limiting contact practices on the frequency and magnitude of head impacts through the retrospective assessment of in vivo head impact data. Cross-sectional study; Level of evidence, 3. Data on impact magnitude and frequency were collected with the Head Impact Telemetry System during the 2009 football season among 42 varsity high school football athletes (mean age, 16.2 ± 0.6 years; mean height, 180.9 ± 7.2 cm; mean weight, 89.8 ± 20.1 kg). Head impacts were compared between player positions and session types (noncontact practice, contact practice, and game). These results were used to estimate the frequency and magnitude of head impacts when contact sessions were restricted. The participants collectively sustained 32,510 impacts over the 15-week season. The typical athlete sustained a mean of 774 ± 502 impacts during the season, with linemen (center, guard, and offensive or defensive tackle positions) sustaining the highest number of impacts per athlete (1076 ± 541), followed by tight ends, running backs, and linebackers (779 ± 286); wide receivers, cornerbacks, and safeties (417 ± 266); and quarterbacks (356 ± 433). When viewed by session type, noncontact practices (n = 21) accounted for 1998 total impacts (2.4 ± 1.4 per athlete per session), contact practices (n = 36) accounted for 16,346 impacts (10.5 ± 7.7 per athlete per session), and games (n = 14) accounted for 14,166 impacts (24.1 ± 19.1 per athlete per session). Significantly more impacts occurred during games when compared with contact (P = .02) and noncontact practices (P result in a 18% reduction in impacts for the

  14. Estimation of heading gyrocompass error using a GPS 3DF system: Impact on ADCP measurements

    Directory of Open Access Journals (Sweden)

    Simón Ruiz

    2002-12-01

    Full Text Available Traditionally the horizontal orientation in a ship (heading has been obtained from a gyrocompass. This instrument is still used on research vessels but has an estimated error of about 2-3 degrees, inducing a systematic error in the cross-track velocity measured by an Acoustic Doppler Current Profiler (ADCP. The three-dimensional positioning system (GPS 3DF provides an independent heading measurement with accuracy better than 0.1 degree. The Spanish research vessel BIO Hespérides has been operating with this new system since 1996. For the first time on this vessel, the data from this new instrument are used to estimate gyrocompass error. The methodology we use follows the scheme developed by Griffiths (1994, which compares data from the gyrocompass and the GPS system in order to obtain an interpolated error function. In the present work we apply this methodology on mesoscale surveys performed during the observational phase of the OMEGA project, in the Alboran Sea. The heading-dependent gyrocompass error dominated. Errors in gyrocompass heading of 1.4-3.4 degrees have been found, which give a maximum error in measured cross-track ADCP velocity of 24 cm s-1.

  15. Ebishushani: people poses places

    NARCIS (Netherlands)

    Andrea Stultiens

    2014-01-01

    Ebifananyi II – People Poses Places Andrea Stultiens People Poses Places is the second part of Ebifananyi, a book series that visualises historical Ugandan photo collections. In People Poses Places we delve into the archive of the photographer Musa Katuramu. In the mid 1930s, teacher and carpenter

  16. Rapid estimation of topsoil hydraulic properties from coupled inversion of TDR data during falling head infiltration

    Science.gov (United States)

    Mboh, C.; Huisman, J. A.; Vereecken, H.

    2010-12-01

    Fast and accurate estimation of topsoil hydraulic properties is very important in many environmental and engineering fields of study. On a small scale, one way of estimating these properties is to monitor infiltration of water into the soil with time domain reflectometry (TDR). Traditionally, TDR data collected during infiltration events are initially converted into average water content along the length of the TDR probe using travel time techniques. These water content averages are then used to inversely estimate soil hydraulic properties by calibrating a hydraulic model or an analytical solution of Richard’s equation describing the infiltration event. However, travel time analysis is subjective and difficult to use for interpretation of TDR measurements made during infiltration events. Moreover, all the errors made in converting the TDR data into water content averages directly propagate to the estimated hydraulic properties. In this study, we examine a new approach to estimating topsoil hydraulic properties from TDR data collected during falling head infiltration. Unlike the classical travel-time based approach to interpreting TDR, we interpret TDR measurements based on inverse modeling of TDR waveforms which has the potential to retrieve spatially resolved soil dielectric permittivity profiles. Instead of using TDR-inferred water content averages as in the traditional approach, we directly use the TDR waveforms to estimate soil properties. This was achieved by coupling a forward model of TDR waveform propagation to a hydrological model describing falling head infiltration. By perturbing the hydraulic parameters in the hydrological model, water content profiles are simulated and converted to TDR waveforms using the TDR forward model. This is repeated until a close fit between measured and modeled TDR waveforms is found. Apart from its potential to provide accurate and hydrologically relevant estimates of topsoil hydraulic properties, the coupled approach also

  17. A Gaussian process regression model for walking speed estimation using a head-worn IMU.

    Science.gov (United States)

    Zihajehzadeh, Shaghayegh; Park, Edward J

    2017-07-01

    Miniature inertial sensors mainly worn on waist, ankle and wrist have been widely used to measure walking speed of the individuals for lifestyle and/or health monitoring. Recent emergence of head-worn inertial sensors in the form of a smart eyewear (e.g. Recon Jet) or a smart ear-worn device (e.g. Sensixa e-AR) provides an opportunity to use these sensors for estimation of walking speed in real-world environment. This work studies the feasibility of using a head-worn inertial sensor for estimation of walking speed. A combination of time-domain and frequency-domain features of tri-axial acceleration norm signal were used in a Gaussian process regression model to estimate walking speed. An experimental evaluation was performed on 15 healthy subjects during free walking trials in an indoor environment. The results show that the proposed method can provide accuracies of better than around 10% for various walking speed regimes. Additionally, further evaluation of the model for long (15-minutes) outdoor walking trials reveals high correlation of the estimated walking speed values to the ones obtained from fusion of GPS with inertial sensors.

  18. Estimation of Effective Swath Width for Dual-Head Multibeam Echosounder

    Directory of Open Access Journals (Sweden)

    Grządziel Artur

    2016-12-01

    Full Text Available Many surveying companies and maritime institutions are now using multibeam systems for their operations, either offshore or in coastal and inland waters. Since the time the first multibeam echosounder appeared (late 1970s the technology has advanced enormously. Modern systems now boast far greater angular coverage (typically 120°-150° and form hundreds of beams. Dual-head multibeam systems can potentially cover the entire sector (180° underneath the ship. However surveyors must be aware that the outer beams of these acoustic systems return the most errors causing that the effective swath width is shorter than what the manufacturers declare. The paper presents the methods of estimating of effective (usable swath width of dual-head multibeam echosounder EM 3002D. Results of the hydrographic survey performed by the polish navy survey ship ORP ‘Arctowski’ have been showed in the article.

  19. Quaternion-Based Unscented Kalman Filter for Accurate Indoor Heading Estimation Using Wearable Multi-Sensor System

    Directory of Open Access Journals (Sweden)

    Xuebing Yuan

    2015-05-01

    Full Text Available Inertial navigation based on micro-electromechanical system (MEMS inertial measurement units (IMUs has attracted numerous researchers due to its high reliability and independence. The heading estimation, as one of the most important parts of inertial navigation, has been a research focus in this field. Heading estimation using magnetometers is perturbed by magnetic disturbances, such as indoor concrete structures and electronic equipment. The MEMS gyroscope is also used for heading estimation. However, the accuracy of gyroscope is unreliable with time. In this paper, a wearable multi-sensor system has been designed to obtain the high-accuracy indoor heading estimation, according to a quaternion-based unscented Kalman filter (UKF algorithm. The proposed multi-sensor system including one three-axis accelerometer, three single-axis gyroscopes, one three-axis magnetometer and one microprocessor minimizes the size and cost. The wearable multi-sensor system was fixed on waist of pedestrian and the quadrotor unmanned aerial vehicle (UAV for heading estimation experiments in our college building. The results show that the mean heading estimation errors are less 10° and 5° to multi-sensor system fixed on waist of pedestrian and the quadrotor UAV, respectively, compared to the reference path.

  20. Quaternion-based unscented Kalman filter for accurate indoor heading estimation using wearable multi-sensor system.

    Science.gov (United States)

    Yuan, Xuebing; Yu, Shuai; Zhang, Shengzhi; Wang, Guoping; Liu, Sheng

    2015-05-07

    Inertial navigation based on micro-electromechanical system (MEMS) inertial measurement units (IMUs) has attracted numerous researchers due to its high reliability and independence. The heading estimation, as one of the most important parts of inertial navigation, has been a research focus in this field. Heading estimation using magnetometers is perturbed by magnetic disturbances, such as indoor concrete structures and electronic equipment. The MEMS gyroscope is also used for heading estimation. However, the accuracy of gyroscope is unreliable with time. In this paper, a wearable multi-sensor system has been designed to obtain the high-accuracy indoor heading estimation, according to a quaternion-based unscented Kalman filter (UKF) algorithm. The proposed multi-sensor system including one three-axis accelerometer, three single-axis gyroscopes, one three-axis magnetometer and one microprocessor minimizes the size and cost. The wearable multi-sensor system was fixed on waist of pedestrian and the quadrotor unmanned aerial vehicle (UAV) for heading estimation experiments in our college building. The results show that the mean heading estimation errors are less 10° and 5° to multi-sensor system fixed on waist of pedestrian and the quadrotor UAV, respectively, compared to the reference path.

  1. Application of stereological estimates in patients with severe head injuries using CT and MR scanning images

    DEFF Research Database (Denmark)

    Eriksen, Nanna; Rostrup, E; Andersen, K

    2010-01-01

    applied stereological techniques to representative CT and MRI brain scans from five patients to describe how stereological methods, when applied to scans of trauma patients, can provide a useful supplement to the estimation of structural brain changes in head injuries. The reliability of the estimates...... traditional imaging methods are not always applicable and automatic methods may not be able to match the individual observer. Stereological techniques are alternative tools in the quantitative description of biological structures, and have been increasingly applied to the human brain. In the present study, we......Severe brain damage is often followed by serious complications. Quantitative measurements, such as regional volume and surface area under various conditions, are essential for understanding functional changes in the brain and assessing prognosis. The affected brain tissue is variable, hence...

  2. Estimation of Aircraft Attitude/Heading Based on the Polarization of Electromagnetic Waves

    Directory of Open Access Journals (Sweden)

    Sun Hong-mei

    2013-12-01

    Full Text Available This paper illustrates the full use of an orthogonal decoupling signal model to describe the 3-D construction of polarized electromagnetic waves. The maximum likelihood method and MUSIC algorithm were introduced into the parameter estimation of partially polarized waves. Attitude reference information for an aircraft that was calibrated by an information base station was delivered by polarized electromagnetic waves. Through receiving and processing the information of the aircraft, a single electromagnetic vector sensor can acquire the aircraft attitude in a geographic coordinate system. Differing from the triangle calculation method which relies on a multi-point measurement, the proposed method only needs a base station signal and a single receiver on the motion platform to realize the posture perception of aircraft. It can therefore serve as a substitute for aircraft attitude navigation and aircraft heading navigation. The introduction of the motion platform attitude estimation algorithm provides a technology support for engineering applications.

  3. Inter-tegular span and head width as estimators of fresh and dry body mass in bumblebees (Bombus spp.)

    DEFF Research Database (Denmark)

    Hagen, Melanie; Dupont, Yoko

    2013-01-01

    Adult body mass is a strong correlate of many important life history traits of bees, and thus, has been used as a proxy for these traits in ecological studies. However, body mass is difficult to measure on live specimens in the field, and impossible to measure non-destructively on dry museum...... specimens. For worker and male bumblebees, we evaluated the linear measures inter-tegular span (IT span) and head width as predictors of fresh and dry weight. For males, linear regressions best explained the relationship between fresh and dry weight and the linear size estimators, while for workers......, polynomial regressions best explained this relationship. We found that both IT span and head width are precise estimators of weights of bumblebees. Head width was a slightly better predictor for male weights, while IT span was a slightly better predictor of worker weights. IT span and head width changed...

  4. Obtaining parsimonious hydraulic conductivity fields using head and transport observations: A bayesian geostatistical parameter estimation approach

    Science.gov (United States)

    Fienen, M.; Hunt, R.; Krabbenhoft, D.; Clemo, T.

    2009-01-01

    Flow path delineation is a valuable tool for interpreting the subsurface hydrogeochemical environment. Different types of data, such as groundwater flow and transport, inform different aspects of hydrogeologie parameter values (hydraulic conductivity in this case) which, in turn, determine flow paths. This work combines flow and transport information to estimate a unified set of hydrogeologic parameters using the Bayesian geostatistical inverse approach. Parameter flexibility is allowed by using a highly parameterized approach with the level of complexity informed by the data. Despite the effort to adhere to the ideal of minimal a priori structure imposed on the problem, extreme contrasts in parameters can result in the need to censor correlation across hydrostratigraphic bounding surfaces. These partitions segregate parameters into faci??s associations. With an iterative approach in which partitions are based on inspection of initial estimates, flow path interpretation is progressively refined through the inclusion of more types of data. Head observations, stable oxygen isotopes (18O/16O) ratios), and tritium are all used to progressively refine flow path delineation on an isthmus between two lakes in the Trout Lake watershed, northern Wisconsin, United States. Despite allowing significant parameter freedom by estimating many distributed parameter values, a smooth field is obtained. Copyright 2009 by the American Geophysical Union.

  5. Pose Space Surface Manipulation

    Directory of Open Access Journals (Sweden)

    Yusuke Yoshiyasu

    2012-01-01

    Full Text Available Example-based mesh deformation techniques produce natural and realistic shapes by learning the space of deformations from examples. However, skeleton-based methods cannot manipulate a global mesh structure naturally, whereas the mesh-based approaches based on a translational control do not allow the user to edit a local mesh structure intuitively. This paper presents an example-driven mesh editing framework that achieves both global and local pose manipulations. The proposed system is built with a surface deformation method based on a two-step linear optimization technique and achieves direct manipulations of a model surface using translational and rotational controls. With the translational control, the user can create a model in natural poses easily. The rotational control can adjust the local pose intuitively by bending and twisting. We encode example deformations with a rotation-invariant mesh representation which handles large rotations in examples. To incorporate example deformations, we infer a pose from the handle translations/rotations and perform pose space interpolation, thereby avoiding involved nonlinear optimization. With the two-step linear approach combined with the proposed multiresolution deformation method, we can edit models at interactive rates without losing important deformation effects such as muscle bulging.

  6. Geometric calibration of head-mounted displays and its effects on distance estimation.

    Science.gov (United States)

    Kellner, Falko; Bolte, Benjamin; Bruder, Gerd; Rautenberg, Ulrich; Steinicke, Frank; Lappe, Markus; Koch, Reinhard

    2012-04-01

    Head-mounted displays (HMDs) allow users to observe virtual environments (VEs) from an egocentric perspective. However, several experiments have provided evidence that egocentric distances are perceived as compressed in VEs relative to the real world. Recent experiments suggest that the virtual view frustum set for rendering the VE has an essential impact on the user's estimation of distances. In this article we analyze if distance estimation can be improved by calibrating the view frustum for a given HMD and user. Unfortunately, in an immersive virtual reality (VR) environment, a full per user calibration is not trivial and manual per user adjustment often leads to mini- or magnification of the scene. Therefore, we propose a novel per user calibration approach with optical see-through displays commonly used in augmented reality (AR). This calibration takes advantage of a geometric scheme based on 2D point - 3D line correspondences, which can be used intuitively by inexperienced users and requires less than a minute to complete. The required user interaction is based on taking aim at a distant target marker with a close marker, which ensures non-planar measurements covering a large area of the interaction space while also reducing the number of required measurements to five. We found the tendency that a calibrated view frustum reduced the average distance underestimation of users in an immersive VR environment, but even the correctly calibrated view frustum could not entirely compensate for the distance underestimation effects.

  7. Room Volume Estimation Based on Ambiguity of Short-Term Interaural Phase Differences Using Humanoid Robot Head

    Directory of Open Access Journals (Sweden)

    Ryuichi Shimoyama

    2016-07-01

    Full Text Available Humans can recognize approximate room size using only binaural audition. However, sound reverberation is not negligible in most environments. The reverberation causes temporal fluctuations in the short-term interaural phase differences (IPDs of sound pressure. This study proposes a novel method for a binaural humanoid robot head to estimate room volume. The method is based on the statistical properties of the short-term IPDs of sound pressure. The humanoid robot turns its head toward a sound source, recognizes the sound source, and then estimates the ego-centric distance by its stereovision. By interpolating the relations between room volume, average standard deviation, and ego-centric distance experimentally obtained for various rooms in a prepared database, the room volume was estimated by the binaural audition of the robot from the average standard deviation of the short-term IPDs at the estimated distance.

  8. Between-year breeding dispersal by White-headed Woodpeckers: A caution about using color bands to estimate survival

    Science.gov (United States)

    Teresa J Lorenz

    2016-01-01

    Between-year breeding dispersal has not been previously documented in White-headed Woodpeckers (Picoides albolarvatus). Therefore, resightings of color-banded adults on previous years’ breeding territories have been considered a means of estimating annual adult survival. From 2013 to 2015, I observed 2 cases of between-year breeding dispersal by...

  9. Robust Intensity Modulated Proton Therapy (IMPT Increases Estimated Clinical Benefit in Head and Neck Cancer Patients.

    Directory of Open Access Journals (Sweden)

    Lisanne V van Dijk

    Full Text Available To compare the clinical benefit of robust optimized Intensity Modulated Proton Therapy (minimax IMPT with current photon Intensity Modulated Radiation Therapy (IMRT and PTV-based IMPT for head and neck cancer (HNC patients. The clinical benefit is quantified in terms of both Normal Tissue Complication Probability (NTCP and target coverage in the case of setup and range errors.For 10 HNC patients, PTV-based IMRT (7 fields, minimax and PTV-based IMPT (2, 3, 4, 5 and 7 fields plans were tested on robustness. Robust optimized plans differed from PTV-based plans in that they target the CTV and penalize possible error scenarios, instead of using the static isotropic CTV-PTV margin. Perturbed dose distributions of all plans were acquired by simulating in total 8060 setup (±3.5 mm and range error (±3% combinations. NTCP models for xerostomia and dysphagia were used to predict the clinical benefit of IMPT versus IMRT.The robustness criterion was met in the IMRT and minimax IMPT plans in all error scenarios, but this was only the case in 1 of 40 PTV-based IMPT plans. Seven (out of 10 patients had relatively large NTCP reductions in minimax IMPT plans compared to IMRT. For these patients, xerostomia and dysphagia NTCP values were reduced by 17.0% (95% CI; 13.0-21.1 and 8.1% (95% CI; 4.9-11.2 on average with minimax IMPT. Increasing the number of fields did not contribute to plan robustness, but improved organ sparing.The estimated clinical benefit in terms of NTCP of robust optimized (minimax IMPT is greater than that of IMRT and PTV-based IMPT in HNC patients. Furthermore, the target coverage of minimax IMPT plans in the presence of errors was comparable to IMRT plans.

  10. Accuracy of estimation of total body weight by legs and head weight measuring and comparison method in the anesthetized patients

    Science.gov (United States)

    Nasiri, Ebrahim; Nasiri, Reza

    2013-01-01

    Context: Accurate patient weight is an important factor in the emergency and operating room departments. Aims: The aim of this study is to determine the accuracy of estimation of total body weight by legs and head weight measuring and comparison method in the anesthetized patients. Settings and Design: Education of hospitals, Mazandaran University of Medical Sciences, prospective, observational study. Subjects and Methods: This is prospective observational study. Nursing staff were asked to estimated weight that knows about a similar person weight on the operating room and matched together, then told his/her guests. They were measured total body weight before anesthesia and then patient head and legs weight after anesthesia. The main outcome was mean weight of these methods and percent accuracy in weight estimation for each group recorded. Statistical Analysis: Descriptive statistically used. Results: Overall, 57.3% (243/425) of operating personnel estimations were equal with actual weight. 35.4% (150/425) of the estimations were less 10 kg than the actual weight and only 7.3 (31/425) of the estimations were above 5 kg of actual weight. The accuracy of overall estimations by operating personnel and its comparison to the accuracy of legs weight, head, and sum weight by a similar method is demonstrated. Conclusions: Despite having no formula in the critical intensive care and anesthesia region for estimation anesthetized, for comatose patient weight. We can use this formula, but where possible, should be based on measured weight for drug dose calculation and this is not possible, combination of these formulas is suitable. PMID:25885980

  11. Eyes Do Not Lie: Spontaneous Versus Posed Smiles

    NARCIS (Netherlands)

    Dibeklioğlu, H.; Valenti, R.; Salah, A.A.; Gevers, T.

    2010-01-01

    Automatic detection of spontaneous versus posed facial expressions received a lot of attention in recent years. However, almost all published work in this area use complex facial features or multiple modalities, such as head pose and body movements with facial features. Besides, the results of these

  12. Pose and Wind Estimation for Autonomous Parafoils

    Science.gov (United States)

    2014-09-01

    learn from each one of my dissertation committee members: in the classroom and in the field. To professors Roberto Cristi, Oleg Yakimenko, Xiaoping Yun...field testing is the best engi- neering classroom there is! Thanks are also due to the leadership at Arcturus UAV, D’Milo Hallerberg and Erik Folkestad...object is not inverted as it is in a real pinhole camera. The coordinates of the object in this frame are (xo,yo,zo). The coordinates of the object’s

  13. MO-E-17A-08: Attenuation-Based Size Adjusted, Scanner-Independent Organ Dose Estimates for Head CT Exams: TG 204 for Head CT

    Energy Technology Data Exchange (ETDEWEB)

    McMillan, K; Bostani, M; Cagnon, C; McNitt-Gray, M [UCLA School of Medicine, Los Angeles, CA (United States); Zankl, M [Helmholtz Zentrum Munchen GmbH, Neuherberg (Germany); DeMarco, J [UCLA Department of Radiation Oncology, Los Angeles, CA (United States)

    2014-06-15

    Purpose: AAPM Task Group 204 described size specific dose estimates (SSDE) for body scans. The purpose of this work is to use a similar approach to develop patient-specific, scanner-independent organ dose estimates for head CT exams using an attenuation-based size metric. Methods: For eight patient models from the GSF family of voxelized phantoms, dose to brain and lens of the eye was estimated using Monte Carlo simulations of contiguous axial scans for 64-slice MDCT scanners from four major manufacturers. Organ doses were normalized by scannerspecific 16 cm CTDIvol values and averaged across all scanners to obtain scanner-independent CTDIvol-to-organ-dose conversion coefficients for each patient model. Head size was measured at the first slice superior to the eyes; patient perimeter and effective diameter (ED) were measured directly from the GSF data. Because the GSF models use organ identification codes instead of Hounsfield units, water equivalent diameter (WED) was estimated indirectly. Using the image data from 42 patients ranging from 2 weeks old to adult, the perimeter, ED and WED size metrics were obtained and correlations between each metric were established. Applying these correlations to the GSF perimeter and ED measurements, WED was calculated for each model. The relationship between the various patient size metrics and CTDIvol-to-organ-dose conversion coefficients was then described. Results: The analysis of patient images demonstrated the correlation between WED and ED across a wide range of patient sizes. When applied to the GSF patient models, an exponential relationship between CTDIvol-to-organ-dose conversion coefficients and the WED size metric was observed with correlation coefficients of 0.93 and 0.77 for the brain and lens of the eye, respectively. Conclusion: Strong correlation exists between CTDIvol normalized brain dose and WED. For the lens of the eye, a lower correlation is observed, primarily due to surface dose variations. Funding

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

    Science.gov (United States)

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

    2016-03-01

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

  15. Habitat quality estimated from head-dipping time in trampling swans

    NARCIS (Netherlands)

    Nolet, B.A.; De Boer, T.; De Vries, P.P.

    2007-01-01

    It would be valuable to be able to infer the habitat quality of underwater-feeding birds and mammals from their diving or head-dipping behavior, especially when underwater sampling is difficult. In air-breathing animals that obtain their food by diving from the water surface to the bottom (or any

  16. Estimation of effective dose and lifetime attributable risk from multiple head CT scans in ventriculoperitoneal shunted children

    Energy Technology Data Exchange (ETDEWEB)

    Aw-Zoretic, J., E-mail: Jaw@luriechildrens.org [Department of Medical Imaging, Ann and Robert H. Lurie Children' s Hospital of Chicago, Chicago, IL (United States); Seth, D.; Katzman, G.; Sammet, S. [Department of Radiology, University of Chicago, Chicago, IL (United States)

    2014-10-15

    Purpose: The purpose of this review is to determine the averaged effective dose and lifetime attributable risk factor from multiple head computed tomography (CT) dose data on children with ventriculoperitoneal shunts (VPS). Method and materials: A total of 422 paediatric head CT exams were found between October 2008 and January 2011 and retrospectively reviewed. The CT dose data was weighted with the latest IRCP 103 conversion factor to obtain the effective dose per study and the averaged effective dose was calculated. Estimates of the lifetime attributable risk were also calculated from the averaged effective dose using a conversion factor from the latest BEIR VII report. Results: Our study found the highest effective doses in neonates and the lowest effective doses were observed in the 10–18 years age group. We estimated a 0.007% potential increase risk in neonates and 0.001% potential increased risk in teenagers over the base risk. Conclusion: Multiple head CTs in children equates to a slight potential increase risk in lifetime attributable risk over the baseline risk for cancer, slightly higher in neonates relative to teenagers. The potential risks versus clinical benefit must be assessed.

  17. A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors

    DEFF Research Database (Denmark)

    Wang, Yunlong; Soltani, Mohsen; Hussain, Dil muhammed Akbar

    2016-01-01

    the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation...

  18. Dynamic variability of the heading-flowering stages of single rice in China based on field observations and NDVI estimations.

    Science.gov (United States)

    Zhang, Zhao; Song, Xiao; Chen, Yi; Wang, Pin; Wei, Xing; Tao, Fulu

    2015-05-01

    Although many studies have indicated the consistent impact of warming on the natural ecosystem (e.g., an early flowering and prolonged growing period), our knowledge of the impacts on agricultural systems is still poorly understood. In this study, spatiotemporal variability of the heading-flowering stages of single rice was detected and compared at three different scales using field-based methods (FBMs) and satellite-based methods (SBMs). The heading-flowering stages from 2000 to 2009 with a spatial resolution of 1 km were extracted from the SPOT/VGT NDVI time series data using the Savizky-Golay filtering method in the areas in China dominated by single rice of Northeast China (NE), the middle-lower Yangtze River Valley (YZ), the Sichuan Basin (SC), and the Yunnan-Guizhou Plateau (YG). We found that approximately 52.6 and 76.3 % of the estimated heading-flowering stages by a SBM were within ±5 and ±10 days estimation error (a root mean square error (RMSE) of 8.76 days) when compared with those determined by a FBM. Both the FBM data and the SBM data had indicated a similar spatial pattern, with the earliest annual average heading-flowering stages in SC, followed by YG, NE, and YZ, which were inconsistent with the patterns reported in natural ecosystems. Moreover, diverse temporal trends were also detected in the four regions due to different climate conditions and agronomic factors such as cultivar shifts. Nevertheless, there were no significant differences (p > 0.05) between the FBM and the SBM in both the regional average value of the phenological stages and the trends, implying the consistency and rationality of the SBM at three scales.

  19. Cardiac and Respiratory Parameter Estimation Using Head-mounted Motion-sensitive Sensors

    Directory of Open Access Journals (Sweden)

    J. Hernandez

    2015-05-01

    Full Text Available This work explores the feasibility of using motion-sensitive sensors embedded in Google Glass, a head-mounted wearable device, to robustly measure physiological signals of the wearer. In particular, we develop new methods to use Glass’s accelerometer, gyroscope, and camera to extract pulse and respiratory waves of 12 participants during a controlled experiment. We show it is possible to achieve a mean absolute error of 0.82 beats per minute (STD: 1.98 for heart rate and 0.6 breaths per minute (STD: 1.19 for respiration rate when considering different observation windows and combinations of sensors. Moreover, we show that a head-mounted gyroscope sensor shows improved performance versus more commonly explored sensors such as accelerometers and demonstrate that a head-mounted camera is a novel and promising method to capture the physiological responses of the wearer. These findings included testing across sitting, supine, and standing postures before and after physical exercise.

  20. Estimation of neutron production from accelerator head assembly of 15 MV medical LINAC using FLUKA simulations

    Energy Technology Data Exchange (ETDEWEB)

    Patil, B.J., E-mail: bjp@physics.unipune.ac.in [Department of Physics, University of Pune, Pune 411 007 (India); Chavan, S.T., E-mail: sharad@sameer.gov.in [SAMEER, IIT Powai Campus, Mumbai 400 076 (India); Pethe, S.N., E-mail: sanjay@sameer.gov.in [SAMEER, IIT Powai Campus, Mumbai 400 076 (India); Krishnan, R., E-mail: krishnan@sameer.gov.in [SAMEER, IIT Powai Campus, Mumbai 400 076 (India); Bhoraskar, V.N., E-mail: vnb@physics.unipune.ac.in [Department of Physics, University of Pune, Pune 411 007 (India); Dhole, S.D., E-mail: sanjay@physics.unipune.ac.in [Department of Physics, University of Pune, Pune 411 007 (India)

    2011-12-15

    For the production of a clinical 15 MeV photon beam, the design of accelerator head assembly has been optimized using Monte Carlo based FLUKA code. The accelerator head assembly consists of e-{gamma} target, flattening filter, primary collimator and an adjustable rectangular secondary collimator. The accelerators used for radiation therapy generate continuous energy gamma rays called Bremsstrahlung (BR) by impinging high energy electrons on high Z materials. The electron accelerators operating above 10 MeV can result in the production of neutrons, mainly due to photo nuclear reaction ({gamma}, n) induced by high energy photons in the accelerator head materials. These neutrons contaminate the therapeutic beam and give a non-negligible contribution to patient dose. The gamma dose and neutron dose equivalent at the patient plane (SSD = 100 cm) were obtained at different field sizes of 0 Multiplication-Sign 0, 10 Multiplication-Sign 10, 20 Multiplication-Sign 20, 30 Multiplication-Sign 30 and 40 Multiplication-Sign 40 cm{sup 2}, respectively. The maximum neutron dose equivalent is observed near the central axis of 30 Multiplication-Sign 30 cm{sup 2} field size. This is 0.71% of the central axis photon dose rate of 0.34 Gy/min at 1 {mu}A electron beam current.

  1. Boneless Pose Editing and Animation

    DEFF Research Database (Denmark)

    Bærentzen, Jakob Andreas; Hansen, Kristian Evers; Erleben, Kenny

    2007-01-01

    In this paper, we propose a pose editing and animation method for triangulated surfaces based on a user controlled partitioning of the model into deformable parts and rigid parts which are denoted handles. In our pose editing system, the user can sculpt a set of poses simply by transforming...... problem in order to obtain the interpolation weights. While the system can be used simply for building poses, it is also an animation system. The user can specify a path for a given constraint and the model is animated correspondingly....

  2. From toe to head: use of robust regression methods in stature estimation based on foot remains.

    Science.gov (United States)

    Pablos, Adrián; Gómez-Olivencia, Asier; García-Pérez, Alfonso; Martínez, Ignacio; Lorenzo, Carlos; Arsuaga, Juan Luis

    2013-03-10

    Stature estimation is a standard procedure in the fields of forensic and biological anthropology, bio-archaeology and paleoanthropology, in order to gain biological insights into the individuals/populations studied. The most accurate stature estimation method is based on anatomical reconstruction (i.e., the Fully method), followed by type I regression equations (e.g., ordinary least squares - OLS) based on long bones, preferably from the lower limb. In some cases, due to the fragmentary nature of the osseous material recovered, stature estimates have to rely on other elements, such as foot remains. In this study, we explore stature estimation based on different foot bones: the talus, calcaneus, and metatarsals 1-4 in Afro- and Euroamericans of both sexes. The approach undertaken in this study is novel for two reasons. First, individual estimates for each bone are provided, and tarsals and metatarsals are combined in order to obtain more accurate estimates. Second, robust statistical methods based on type I regression equations are used, namely least trimmed squares (LTS). Our results show that the best individual bones for estimating stature are the first and second metatarsal and both the talus and the calcaneus. The combination of a tarsal and a metatarsal bone slightly improves the accuracy of the stature estimate. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

  3. Experimental estimates of peak skin dose and its relationship to the CT dose index using the CTDI head phantom.

    Science.gov (United States)

    de las Heras, Hugo; Minniti, Ronaldo; Wilson, Sean; Mitchell, Chad; Skopec, Marlene; Brunner, Claudia C; Chakrabarti, Kish

    2013-12-01

    A straightforward method is presented to estimate peak skin doses (PSDs) delivered by computed tomography (CT) scanners. The measured PSD values are related to the well-known volume CT dose index (CTDI(vol)), displayed on the console of CT scanners. PSD measurement estimates were obtained, in four CT units, by placing radiochromic film on the surface of a CTDI head phantom. Six different X-ray tube currents including the maximum allowed value were used to irradiate the phantom. PSD and CTDI(vol) were independently measured and later related to the CTDI(vol) value displayed on the console. A scanner-specific relationship was found between the measured PSD and the associated CTDI(vol) displayed on the console. The measured PSD values varied between 27 and 136 mGy among all scanners when the routine head scan parameters were used. The results of this work allow relating the widely used CTDI(vol) to an actual radiation dose delivered to the skin of a patient.

  4. Size-specific, scanner-independent organ dose estimates in contiguous axial and helical head CT examinations.

    Science.gov (United States)

    McMillan, Kyle; Bostani, Maryam; Cagnon, Chris; Zankl, Maria; Sepahdari, Ali R; McNitt-Gray, Michael

    2014-12-01

    AAPM Task Group 204 introduced size-specific dose estimates for pediatric and adult patients undergoing body CT examinations. This investigation extends that work to head CT exams by using Monte Carlo simulations to develop size-specific, scanner-independent CTDIvol-to-organ-dose conversion coefficients. Using eight patient models from the GSF family of voxelized phantoms, dose to the brain and lens of the eye was estimated using Monte Carlo simulations of contiguous axial and helical scans for 64-slice multidetector CT scanners from four major manufacturers. For each patient model and scan mode, scanner-independent CTDIvol-to-organ-dose conversion coefficients were calculated by normalizing organ dose by scanner-specific 16 cm CTDIvol values and averaging across all scanners. Head size was measured using both geometric and attenuation-based size metrics. Head perimeter and effective diameter (ED), both geometric size metrics, were measured directly from the GSF data at the first slice superior to the eyes. Because the GSF models' pixel data are provided in terms of organ identification numbers instead of CT numbers, an indirect estimate of water equivalent diameter (WED), an attenuation-based size metric, was determined based on the relationships between WED and both ED and perimeter for a sample of patient data. Correlations between CTDIvol-to-organ-dose conversion coefficients and the various patient size metrics were then explored. The analysis of the patient data revealed a best-fit linear relationship (R(2) of 0.87) between ED and WED across a wide variety of patient sizes. Using this relationship along with ED determined from the GSF data, WED was estimated for each GSF model. An exponential relationship between CTDIvol normalized organ dose and WED was observed for both contiguous axial and helical scanning. For head perimeter and ED measured directly from the GSF data, an exponential relationship between CTDIvol normalized organ dose and patient size was

  5. Problem posing reflections and applications

    CERN Document Server

    Brown, Stephen I

    2014-01-01

    As a result of the editors' collaborative teaching at Harvard in the late 1960s, they produced a ground-breaking work -- The Art Of Problem Posing -- which related problem posing strategies to the already popular activity of problem solving. It took the concept of problem posing and created strategies for engaging in that activity as a central theme in mathematics education. Based in part upon that work and also upon a number of articles by its authors, other members of the mathematics education community began to apply and expand upon their ideas. This collection of thirty readings is a tes

  6. An EMG-driven model of the upper extremity and estimation of long head biceps force.

    Science.gov (United States)

    Langenderfer, Joseph; LaScalza, Suzanne; Mell, Amy; Carpenter, James E; Kuhn, John E; Hughes, Richard E

    2005-01-01

    An electromyography (EMG) driven model of the upper extremity has been developed that incorporates musculoskeletal geometry of the glenohumeral and elbow joints, estimated relevant physiologic muscle parameters including optimal muscle lengths, and EMG activity. The model is designed to predict forces in muscles spanning the glenohumeral joint resulting from functionally relevant tasks. The model is composed of four sub-models that comprise a mathematical as well as graphical three-dimensional representation of the upper extremity: a musculoskeletal model for estimation of muscle-tendon lengths and moment arms, a Hill-based muscle force model, a model for estimating optimal muscle lengths, and a model for estimation of muscle activation from EMG signal of the biceps. The purpose of this paper is to describe the components of the model, as well as the data required to drive the model. Collection of data is described in the context of applying the model to determine biceps muscle forces for testing of functional tasks. Results obtained from applying the model to analyze the functional tasks are summarized, and model strengths and limitations are discussed.

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

    Science.gov (United States)

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

    2008-11-01

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

  8. Videometrics technology of flyers' pose

    Science.gov (United States)

    Hu, Xiaoli; Su, Xiuqin; Zhang, Sanxi; Liu, Biao; Zhou, Zhiqiang

    2015-10-01

    In this paper pose measurement refers to flying pose measurement of rigid body including the pitch angle, yaw angel and roll angle. Pose measurement is of vital importance for such items as weapons settings, fault analysis and optimation design. Pose measurement based on optical images has many merits such as intuitive and non-contacted, which is a main method to measure pose currently. According to the parameters used and principle of the algorithms, the existing methods of pose measurement based on optical images are classified systematically and comprehensively for the first time as following: the methods of one station un-using camera's inner parameters are divided into the feature length ratio method and the direct linear transformation(DLT )method, otherwise they are divided into the perspective n points(PNP)problem and the optical and radar integration method, the axes from planes intersection using two stations extensible to multistation, and model matching applied to one or more stations, and then they are comparatively analyzed .At last combined with practical applications such as one or more stations, have or no model and inner parameters used or unused, some selection and improvement of key points are given practically.

  9. Comparison of methods for estimating glomerular filtration rate in head and neck cancer patients treated with cisplatin

    DEFF Research Database (Denmark)

    Lindberg, Lotte; Brødbæk, Kasper; Hägerström, Erik G

    2017-01-01

    aimed to compare two commonly used algorithms for estimating GFR (eGFR) from plasma creatinine (PCr) with 51Cr-EDTA clearance (CrCl) as a reference method. This was a retrospective single center study of 94 head and neck cancer patients treated with cisplatin. CrCl was performed once before, during......, and after treatment, and PCr was measured concurrently. eGFR was assessed from PCr applying the Cockcroft-Gault (CG) and the Chronic Kidney Disease-Epidemiology Collaboration (CKD-EPI) equations. Agreement was assessed applying the statistical methods of Bland and Altman. A predefined limit of clinically...... acceptable variation between CrCl and eGFR of 14% was applied. Comparison of CrCl and eGFRCKD revealed a positive slope of the linear regression line, suggesting proportional bias (p 

  10. Tissue thickness estimation for high precision head-tracking using a galvanometric laser scanner - a case study.

    Science.gov (United States)

    Wissel, Tobias; Stüber, Patrick; Wagner, Benjamin; Dürichen, Robert; Bruder, Ralf; Schweikard, Achim; Ernst, Floris

    2014-01-01

    Marker-less optical head-tracking constitutes a comfortable alternative with no exposure to radiation for realtime monitoring in radiation therapy. Supporting information such as tissue thickness has the potential to improve spatial tracking accuracy. Here we study how accurate tissue thickness can be estimated from the near-infrared (NIR) backscatter obtained from laser scans. In a case study, optical data was recorded with a galvanometric laser scanner from three subjects. A tissue ground truth from MRI was robustly matched via customized bite blocks. We show that Gaussian Processes accurately model the relationship between NIR features and tissue thickness. They were able to predict the tissue thickness with less than 0.5 mm root mean square error. Individual scaling factors for all features and an additional incident angle feature had positive effects on this performance.

  11. A method to estimate biomechanics and mechanical properties of optic nerve head tissues from parameters measurable using optical coherence tomography.

    Science.gov (United States)

    Sigal, I A; Grimm, J L; Schuman, J S; Kagemann, L; Ishikawa, H; Wollstein, G

    2014-06-01

    Optic nerve head (ONH) tissue properties and biomechanics remain mostly unmeasurable in the experiment. We hypothesized that these can be estimated numerically from ocular parameters measurable in vivo with optical coherence tomography (OCT). Using parametric models representing human ONHs we simulated acute intraocular pressure (IOP) increases (10 mmHg). Statistical models were fit to predict, from OCT-measurable parameters, 15 outputs, including ONH tissue properties, stresses, and deformations. The calculations were repeated adding parameters that have recently been proposed as potentially measurable with OCT. We evaluated the sensitivity of the predictions to variations in the experimental parameters. Excellent fits were obtained to predict all outputs from the experimental parameters, with cross-validated R2s between 0.957 and 0.998. Incorporating the potentially measurable parameters improved fits significantly. Predictions of tissue stiffness were accurate to within 0.66 MPa for the sclera and 0.24 MPa for the lamina cribrosa. Predictions of strains and stresses were accurate to within 0.62% and 4.9 kPa, respectively. Estimates of ONH biomechanics and tissue properties can be obtained quickly from OCT measurements using an applet that we make freely available. These estimates may improve understanding of the eye sensitivity to IOP and assessment of patient risk for development or progression of glaucoma.

  12. Viscosity-adjusted estimation of pressure head and pump flow with quasi-pulsatile modulation of rotary blood pump for a total artificial heart.

    Science.gov (United States)

    Yurimoto, Terumi; Hara, Shintaro; Isoyama, Takashi; Saito, Itsuro; Ono, Toshiya; Abe, Yusuke

    2016-09-01

    Estimation of pressure and flow has been an important subject for developing implantable artificial hearts. To realize real-time viscosity-adjusted estimation of pressure head and pump flow for a total artificial heart, we propose the table estimation method with quasi-pulsatile modulation of rotary blood pump in which systolic high flow and diastolic low flow phased are generated. The table estimation method utilizes three kinds of tables: viscosity, pressure and flow tables. Viscosity is estimated from the characteristic that differential value in motor speed between systolic and diastolic phases varies depending on viscosity. Potential of this estimation method was investigated using mock circulation system. Glycerin solution diluted with salty water was used to adjust viscosity of fluid. In verification of this method using continuous flow data, fairly good estimation could be possible when differential pulse width modulation (PWM) value of the motor between systolic and diastolic phases was high. In estimation under quasi-pulsatile condition, inertia correction was provided and fairly good estimation was possible when the differential PWM value was high, which was not different from the verification results using continuous flow data. In the experiment of real-time estimation applying moving average method to the estimated viscosity, fair estimation could be possible when the differential PWM value was high, showing that real-time viscosity-adjusted estimation of pressure head and pump flow would be possible with this novel estimation method when the differential PWM value would be set high.

  13. Sensor fusion in head pose tracking for augmented reality

    NARCIS (Netherlands)

    Young, I.T.; Lagendijk, R.L.; Jonker, P.P.; Persa, S.F.

    The focus of this thesis is on studying diverse techniques, methods and sensors for position and orientation determination with application to augmented reality applications. In Chapter 2 we reviewed a variety of existing techniques and systems for position determination. From a practical point of

  14. Sensor fusion in head pose tracking for augmented reality

    NARCIS (Netherlands)

    Persa, S.F.

    2006-01-01

    The focus of this thesis is on studying diverse techniques, methods and sensors for position and orientation determination with application to augmented reality applications. In Chapter 2 we reviewed a variety of existing techniques and systems for position determination. From a practical point of

  15. Modernizing emergency alerts poses challenges

    OpenAIRE

    Center for Homeland Defense and Security

    2010-01-01

    Center for Homeland Defense and Security, OUT OF THE CLASSROOM Download the paper: Paper: IPAWS (Integrated Public Alert and Warning System)” Modernizing emergency alerts poses challenges Anthony Cox is interested in the next generation of emergency alert systems.Any television viewer...

  16. Face pose tracking using the four-point algorithm

    Science.gov (United States)

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

    2017-06-01

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

  17. Methods for estimating the site of origin of locoregional recurrence in head and neck squamous cell carcinoma

    Energy Technology Data Exchange (ETDEWEB)

    Due, A.K.; Vogelius, I.R.; Berthelsen, A.K.; Kristensen, C.A.; Specht, L. [Copenhagen Univ. (Denmark). Dept. of Radiation Oncology Section 3994; Aznar, M.C. [Copenhagen Univ. (Denmark). Dept. of Radiation Oncology Section 3994; Copenhagen Univ. (Denmark). Niels Bohr Institute; Bentzen, S.M. [Copenhagen Univ. (Denmark). Dept. of Radiation Oncology Section 3994; Wisconsin Univ., MD (United States). Depts. of Human Oncology and Medical Physics; Korreman, S.S. [Copenhagen Univ. (Denmark). Niels Bohr Institute; Roskilde Univ. (Denmark). Dept. of Science, Systems, and Models

    2012-08-15

    Purpose: Methods to estimate the likely origin of recurrences after radiation therapy for head and neck squamous cell carcinoma are compared. Methods and materials: A total of 25 patients meeting the following inclusion criteria were randomly selected: curatively intended intensity-modulated radiotherapy planned on a positron emission tomography-computed tomography (PET/CT) scan during the period 2005-2009; squamous cell carcinoma in the oral cavity, pharynx or larynx; complete clinical response followed by locoregional recurrence; and a CT scan at recurrence before any salvage therapy. Exclusion criteria were previous cancer in the area, surgery prior to radiotherapy, or a synchronous cancer. Three methods of estimating focal points of recurrence origin and two volume overlap methods assigning the recurrences to the most central target volumes encompassing at least 50% or 95% of the recurrence volumes were tested. Treatment planning and recurrence scans were rigid and deformable co-registered in order to transfer focal points to the treatment planning scan. Double determinations of all volumes, points, and co-registrations were made. Results: The volume overlap methods assigned the recurrences to significantly more peripheral target volumes than focal methods (p < 0.0001 for all comparisons of 95% overlap vs. focal methods, p < 0.028 for all comparisons of 50% overlap vs. focal methods). Repeated registrations of the same point had higher reproducibility with deformable registration than with rigid registration (median distance 0.31 vs. 0.35 cm, p = 0.015). No significant differences were observed among the focal methods. Conclusion: Significant differences between methods were found which may affect strategies to improve radiotherapy based on pattern of failure analyses. (orig.)

  18. Gaussian Light Field: Estimation of Viewpoint-Dependent Blur for Optical See-Through Head-Mounted Displays.

    Science.gov (United States)

    Itoh, Yuta; Amano, Toshiyuki; Iwai, Daisuke; Klinker, Gudrun

    2016-11-01

    We propose a method to calibrate viewpoint-dependent, channel-wise image blur of near-eye displays, especially of Optical See-Through Head-Mounted Displays (OST-HMDs). Imperfections in HMD optics cause channel-wise image shift and blur that degrade the image quality of the display at a user's viewpoint. If we can estimate such characteristics perfectly, we could mitigate the effect by applying correction techniques from the computational photography in computer vision as analogous to cameras. Unfortunately, directly applying existing calibration techniques of cameras to OST-HMDs is not a straightforward task. Unlike ordinary imaging systems, image blur in OST-HMDs is viewpoint-dependent, i.e., the optical characteristic of a display dynamically changes depending on the current viewpoint of the user. This constraint makes the problem challenging since we must measure image blur of an HMD, ideally, over the entire 3D eyebox in which a user can see an image. To overcome this problem, we model the viewpoint-dependent blur as a Gaussian Light Field (GLF) that stores spatial information of the display screen as a (4D) light field with depth information and the blur as point-spread functions in the form of Gaussian kernels, respectively. We first describe both our GLF model and a calibration procedure to learn a GLF for a given OST-HMD. We then apply our calibration method to two HMDs that use different optics: a cubic prism or holographic gratings. The results show that our method achieves significantly better accuracy in Point-Spread Function (PSF) estimations with an accuracy about 2 to 7 dB in Peak SNR.

  19. Refining Visually Detected Object poses

    DEFF Research Database (Denmark)

    Holm, Preben; Petersen, Henrik Gordon

    2010-01-01

    to the particular object and in order to handle the demand for flexibility, there is an increasing demand for avoiding such dedicated mechanical alignment systems. Rather, it would be desirable to automatically locate and grasp randomly placed objects from tables, conveyor belts or even bins with a high accuracy......Automated industrial assembly today require that the 3D position and orientation (hereafter ''pose`) of the objects to be assembled are known precisely. Today this precision is mostly established by a dedicated mechanical object alignment system. However, such systems are often dedicated...... that enables direct assembly. Conventional vision systems and laser triangulation systems can locate randomly placed known objects (with 3D CAD models available) with some accuracy, but not necessarily a good enough accuracy. In this paper, we present a novel method for refining the pose accuracy of an object...

  20. SU-E-J-154: Deformable Image Registration Based Delivered Dose Estimation for Head and Neck Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Kumarasiri, A; Liu, C; Chetvertkov, M; Gordon, J; Siddiqui, F; Chetty, I; Kim, J [Henry Ford Health System, Detroit, MI (United States)

    2014-06-01

    Purpose: To estimate the accumulated dose to targets and organs at risk (OAR) for head and neck (H'N) radiotherapy using 3 deformable image registration (DIR) algorithms. Methods: Five H'N patients, who had daily CBCTs taken during the course of treatment, were retrospectively studied. All plans had 5 mm CTV-to-PTV expansions. To overcome the small field of view (FOV) limitations and HU uncertainties of CBCTs, CT images were deformably registered using a parameter-optimized B-spline DIR algorithm (Elastix, elastix.isi.uu.nl) and resampled onto each CBCT with a 4 cm uniform FOV expansion. The dose of the day was calculated on these resampled CT images. Calculated daily dose matrices were warped and accumulated to the planning CT using 3 DIR algorithms; SmartAdapt (Eclipse/Varian), Velocity (Velocity Medical Solutions), and Elastix. Dosimetric indices for targets and OARs were determined from the DVHs and compared with corresponding planned quantities. Results: The cumulative dose deviation was less than 2%, on average, for PTVs from the corresponding plan dose, for all algorithms/patients. However, the parotids show as much as a 37% deviation from the intended dose, possibly due to significant patient weight loss during the first 3 weeks of treatment (15.3 lbs in this case). The mean(±SD) cumulative dose deviations of the 5 patients estimated using the 3 algorithms (SmartAdapt, Velocity, and Elastix) were (0.8±0.9%, 0.5±0.9%, 0.6±1.3%) for PTVs, (1.6±1.9%, 1.4±2.0%, 1.7±1.9%) for GTVs, (10.4±12.1%, 10.7±10.6%, 6.5±10.1%) for parotid glands, and (4.5±4.6%, 3.4±5.7%, 3.9±5.7%) for mucosa, respectively. The differences among the three DIR algorithms in the estimated cumulative mean doses (1SD (in Gy)) were: 0.1 for PTVs, 0.1 for GTVs, 1.9 for parotid glands, and 0.4 for mucosa. Conclusion: Results of this study are suggestive that more frequent plan adaptation for organs, such as the parotid glands, might be beneficial during the course of H

  1. A method for estimating the fresh water–salt water interface with hydraulic heads in a coastal aquifer and its application

    Directory of Open Access Journals (Sweden)

    Xun Zhou

    2011-04-01

    Full Text Available Examining the descriptions of piezometric heads at two points in both the salt water and fresh water zones reveals that when the groundwater flow system is in steady state and satisfies the Dupuit assumption, the location of the fresh water–salt water interface in a homogeneous, isotropic, and unconfined coastal aquifer can be estimated based on a piezometric head of fresh water at a point in the fresh water zone (from the water table to the interface vertically lined up with a piezometric head of salt water at a point in the salt water zone (from the interface down. Research shows that the new method is a general relation and that both the Hubbert relation describing the location of the interface and the Ghyben–Herzberg relation are special cases of this method. The method requires two piezometric wells to be close to each other and each tapping into a different zone. Measurements of piezometric heads at a well cluster consisting of piezometric wells tapping separately into fresh water and salt water zones near Beihai, China at 5-day intervals for 15 months are used to illustrate the estimation of interface location. The depth of the interface for well H5 ranges from 32 to 72 m below the sea level.

  2. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... is not harmful, but it may cause some medical devices to malfunction. Most orthopedic implants pose no ... Head? Magnetic resonance imaging (MRI) is a noninvasive medical test that physicians use to diagnose medical conditions. ...

  3. Perceiving where another person is looking: The integration of head and body information in estimating another person’s gaze.

    Directory of Open Access Journals (Sweden)

    Pieter eMoors

    2015-06-01

    Full Text Available The process through which an observer allocates his/her attention based on the attention of another person is known as joint attention. To be able to do this, the observer effectively has to compute where the other person is looking. It has been shown that observers integrate information from the head and the eyes to determine the gaze of another person. Most studies have documented that observers show a bias called the overshoot effect when eyes and head are misaligned. The present study addresses whether body information is also used as a cue to compute perceived gaze direction. In Experiment 1, we observed a similar overshoot effect in both behavioral and saccadic responses when manipulating body orientation. In Experiment 2, we explored whether the overshoot effect was due to observers assuming that the eyes are oriented further than the head when head and body orientation are misaligned. We removed horizontal eye information by presenting the stimulus from a side view. Head orientation was now manipulated in a vertical direction and the overshoot effect was replicated. In summary, this study shows that body orientation is indeed used as a cue to determine where another person is looking.

  4. Estimating a neutral reference for electroencephalographic recordings: the importance of using a high-density montage and a realistic head model.

    Science.gov (United States)

    Liu, Quanying; Balsters, Joshua H; Baechinger, Marc; van der Groen, Onno; Wenderoth, Nicole; Mantini, Dante

    2015-10-01

    In electroencephalography (EEG) measurements, the signal of each recording electrode is contrasted with a reference electrode or a combination of electrodes. The estimation of a neutral reference is a long-standing issue in EEG data analysis, which has motivated the proposal of different re-referencing methods, among which linked-mastoid re-referencing (LMR), average re-referencing (AR) and reference electrode standardization technique (REST). In this study we quantitatively assessed the extent to which the use of a high-density montage and a realistic head model can impact on the optimal estimation of a neutral reference for EEG recordings. Using simulated recordings generated by projecting specific source activity over the sensors, we assessed to what extent AR, REST and LMR may distort the scalp topography. We examined the impact electrode coverage has on AR and REST, and how accurate the REST reconstruction is for realistic and less realistic (three-layer and single-layer spherical) head models, and with possible uncertainty in the electrode positions. We assessed LMR, AR and REST also in the presence of typical EEG artifacts that are mixed in the recordings. Finally, we applied them to real EEG data collected in a target detection experiment to corroborate our findings on simulated data. Both AR and REST have relatively low reconstruction errors compared to LMR, and that REST is less sensitive than AR and LMR to artifacts mixed in the EEG data. For both AR and REST, high electrode density yields low re-referencing reconstruction errors. A realistic head model is critical for REST, leading to a more accurate estimate of a neutral reference compared to spherical head models. With a low-density montage, REST shows a more reliable reconstruction than AR either with a realistic or a three-layer spherical head model. Conversely, with a high-density montage AR yields better results unless precise information on electrode positions is available. Our study is the first

  5. Human pose recovery for rehabilitation using ambulatory sensors.

    Science.gov (United States)

    Lin, Jonathan Feng-Shun; Kulić, Dana

    2013-01-01

    In this paper, an approach for lower-leg pose recovery from ambulatory sensors is implemented and validated in a clinical setting. Inertial measurement units are attached to patients undergoing physiotherapy. The sensor data is combined with a kinematic model within an extended Kalman filter framework to perform joint angle estimation. Anthropometric joint limits and process noise adaptation are employed to improve the quality of the joint angle estimation. The proposed approach is tested on 7 patients following total hip or knee joint replacement surgery. The proposed approach achieves an average root-mean-square error of 0.12 radians at key poses.

  6. Problem Posing with the Multiplication Table

    Science.gov (United States)

    Dickman, Benjamin

    2014-01-01

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

  7. Structured Light-Based Motion Tracking in the Limited View of an MR Head Coil

    DEFF Research Database (Denmark)

    Erikshøj, M.; Olesen, Oline Vinter; Conradsen, Knut

    2013-01-01

    of the facial surface. The point clouds are continuously realigned to a reference scan to obtain pose estimates. The system has been tested on a mannequin head performing controlled rotational and translational axial movements within the head coil outside the range of the magnetic field. The RMS of the residual......A markerless motion tracking (MT) system developed for use in PET brain imaging has been tested in the limited field of view (FOV) of the MR head coil from the Siemens Biograph mMR. The system is a 3D surface scanner that uses structured light (SL) to create point cloud reconstructions...

  8. Estimating and explaining the effect of education and income on head and neck cancer risk: INHANCE consortium pooled analysis of 31 case-control studies from 27 countries.

    Science.gov (United States)

    Conway, David I; Brenner, Darren R; McMahon, Alex D; Macpherson, Lorna M D; Agudo, Antonio; Ahrens, Wolfgang; Bosetti, Cristina; Brenner, Hermann; Castellsague, Xavier; Chen, Chu; Curado, Maria Paula; Curioni, Otávio A; Dal Maso, Luigino; Daudt, Alexander W; de Gois Filho, José F; D'Souza, Gypsyamber; Edefonti, Valeria; Fabianova, Eleonora; Fernandez, Leticia; Franceschi, Silvia; Gillison, Maura; Hayes, Richard B; Healy, Claire M; Herrero, Rolando; Holcatova, Ivana; Jayaprakash, Vijayvel; Kelsey, Karl; Kjaerheim, Kristina; Koifman, Sergio; La Vecchia, Carlo; Lagiou, Pagona; Lazarus, Philip; Levi, Fabio; Lissowska, Jolanta; Luce, Daniele; Macfarlane, Tatiana V; Mates, Dana; Matos, Elena; McClean, Michael; Menezes, Ana M; Menvielle, Gwenn; Merletti, Franco; Morgenstern, Hal; Moysich, Kirsten; Müller, Heiko; Muscat, Joshua; Olshan, Andrew F; Purdue, Mark P; Ramroth, Heribert; Richiardi, Lorenzo; Rudnai, Peter; Schantz, Stimson; Schwartz, Stephen M; Shangina, Oxana; Simonato, Lorenzo; Smith, Elaine; Stucker, Isabelle; Sturgis, Erich M; Szeszenia-Dabrowska, Neonila; Talamini, Renato; Thomson, Peter; Vaughan, Thomas L; Wei, Qingyi; Winn, Deborah M; Wunsch-Filho, Victor; Yu, Guo-Pei; Zhang, Zuo-Feng; Zheng, Tongzhang; Znaor, Ariana; Boffetta, Paolo; Chuang, Shu-Chun; Ghodrat, Marianoosh; Amy Lee, Yuan-Chin; Hashibe, Mia; Brennan, Paul

    2015-03-01

    Low socioeconomic status has been reported to be associated with head and neck cancer risk. However, previous studies have been too small to examine the associations by cancer subsite, age, sex, global region and calendar time and to explain the association in terms of behavioral risk factors. Individual participant data of 23,964 cases with head and neck cancer and 31,954 controls from 31 studies in 27 countries pooled with random effects models. Overall, low education was associated with an increased risk of head and neck cancer (OR = 2.50; 95% CI = 2.02 - 3.09). Overall one-third of the increased risk was not explained by differences in the distribution of cigarette smoking and alcohol behaviors; and it remained elevated among never users of tobacco and nondrinkers (OR = 1.61; 95% CI = 1.13 - 2.31). More of the estimated education effect was not explained by cigarette smoking and alcohol behaviors: in women than in men, in older than younger groups, in the oropharynx than in other sites, in South/Central America than in Europe/North America and was strongest in countries with greater income inequality. Similar findings were observed for the estimated effect of low versus high household income. The lowest levels of income and educational attainment were associated with more than 2-fold increased risk of head and neck cancer, which is not entirely explained by differences in the distributions of behavioral risk factors for these cancers and which varies across cancer sites, sexes, countries and country income inequality levels. © 2014 UICC.

  9. Estimating and explaining the effect of education and income on head and neck cancer risk: INHANCE consortium pooled analysis of 31 case-control studies from 27 countries

    Science.gov (United States)

    Conway, David I.; Brenner, Darren R.; McMahon, Alex D.; Macpherson, Lorna M.D.; Agudo, Antonio; Ahrens, Wolfgang; Bosetti, Cristina; Brenner, Hermann; Castellsague, Xavier; Chen, Chu; Curado, Maria Paula; Curioni, Otávio A.; Maso, Luigino Dal; Daudt, Alexander W.; de Gois Filho, José F.; D'Souza, Gypsyamber; Edefonti, Valeria; Fabianova, Eleonora; Fernandez, Leticia; Franceschi, Silvia; Gillison, Maura; Hayes, Richard B.; Healy, Claire M.; Herrero, Rolando; Holcatova, Ivana; Jayaprakash, Vijayvel; Kelsey, Karl; Kjaerheim, Kristina; Koifman, Sergio; La Vecchia, Carlo; Lagiou, Pagona; Lazarus, Philip; Levi, Fabio; Lissowska, Jolanta; Luce, Daniele; Macfarlane, Tatiana V.; Mates, Dana; Matos, Elena; McClean, Michael; Menezes, Ana M; Menvielle, Gwenn; Merletti, Franco; Morgenstern, Hal; Moysich, Kirsten; Müller, Heiko; Muscat, Joshua; Olshan, Andrew F.; Purdue, Mark P.; Ramroth, Heribert; Richiardi, Lorenzo; Rudnai, Peter; Schantz, Stimson; Schwartz, Stephen M.; Shangina, Oxana; Simonato, Lorenzo; Smith, Elaine; Stucker, Isabelle; Sturgis, Erich M.; Szeszenia-Dabrowska, Neonila; Talamini, Renato; Thomson, Peter; Vaughan, Thomas L.; Wei, Qingyi; Winn, Deborah M.; Wunsch-Filho, Victor; Yu, Guo-Pei; Zhang, Zuo-Feng; Zheng, Tongzhang; Znaor, Ariana; Boffetta, Paolo; Chuang, Shu-Chun; Ghodrat, Marianoosh; Lee, Yuan-Chin Amy; Hashibe, Mia; Brennan, Paul

    2015-01-01

    Low socioeconomic status has been reported to be associated with head and neck cancer risk. However, previous studies have been too small to examine the associations by cancer subsite, age, sex, global region and calendar time and to explain the association in terms of behavioral risk factors. Individual participant data of 23,964 cases with head and neck cancer and 31,954 controls from 31 studies in 27 countries pooled with random effects models. Overall, low education was associated with an increased risk of head and neck cancer (OR = 2.50; 95% CI = 2.02 – 3.09). Overall one-third of the increased risk was not explained by differences in the distribution of cigarette smoking and alcohol behaviors; and it remained elevated among never users of tobacco and nondrinkers (OR = 1.61; 95% CI = 1.13 – 2.31). More of the estimated education effect was not explained by cigarette smoking and alcohol behaviors: in women than in men, in older than younger groups, in the oropharynx than in other sites, in South/Central America than in Europe/North America and was strongest in countries with greater income inequality. Similar findings were observed for the estimated effect of low versus high household income. The lowest levels of income and educational attainment were associated with more than 2-fold increased risk of head and neck cancer, which is not entirely explained by differences in the distributions of behavioral risk factors for these cancers and which varies across cancer sites, sexes, countries and country income inequality levels. PMID:24996155

  10. Using an Empirical Model of Human Turning Motion to Aid Heading Estimation in a Personal Navigation System

    Science.gov (United States)

    Jakel, Thomas

    With the adoption of Global Navigation Satellite Systems in smart phones, soldier equipment, and emergency responder navigation systems users have realized the usefulness of low cost Personal Navigation Systems. The state-of-the-art Personal Navigation System is a unit that fuses information based on external references with a low cost IMU. Due to the size, weight, power, and cost constraints imposed on a pedestrian navigation systems as well as current IMU performance limitations, the gyroscopes used to determine heading exhibit significant drift limiting the performance of the navigation system. In this thesis biomechanical signals are used to predict the onset of pedestrian turning motion. Experimental data from eight subjects captured in a gait laboratory using a Vicon motion tracking unit is used for validation. The analysis of experimental data shows the heading computed by turn prediction augmented integration is more accurate than open loop gyro integration alone.

  11. Pump flow estimation from pressure head and power uptake for the HeartAssist5, HeartMate II, and HeartWare VADs.

    Science.gov (United States)

    Pennings, Kim A M A; Martina, Jerson R; Rodermans, Ben F M; Lahpor, Jaap R; van de Vosse, Frans N; de Mol, Bas A J M; Rutten, Marcel C M

    2013-01-01

    The use of long-term mechanical circulatory support (MCS) for heart failure by means of implanted continuous-flow left ventricular assist devices (cf-LVADs) will increase, either to enable recovery or to provide a destination therapy. The effectiveness and user-friendliness of MCS will depend on the development of near-physiologic control strategies for which accurate estimation of pump flow is essential. To provide means for the assessment of pump flow, this study presents pump models, estimating pump flow (Q(lvad)) from pump speed (n) and pressure difference across the LVAD (Δp(lvad)) or power uptake (P). The models are evaluated for the axial-flow LVADs HeartAssist5 (HA5) and HeartMate II (HMII), and for a centrifugal pump, the HeartWare (HW). For all three pumps, models estimating Q(lvad) from Δp(lvad) only is capable of describing pump behavior under static conditions. For the axial pumps, flow estimation from power uptake alone was not accurate. When assuming an increase in pump flow with increasing power uptake, low pump flows are overestimated in these pumps. Only for the HW, pump flow increased linearly with power uptake, resulting in a power-based pump model that estimates static pump flow accurately. The addition of pressure head measurements improved accuracy in the axial cf-LVAD estimation models.

  12. Estimation of individual perioperative cardiac risk in patients with tumors of the head and neck with documented ischemic heart disease

    Directory of Open Access Journals (Sweden)

    M. S. Potapenko

    2013-12-01

    Full Text Available Background: Approximately half of all deaths in non-cardiac surgery is associated with cardiovascular complications. Expedient to constantly improve existing stratification model to identify the most powerful predictors that can be used to objectively assess the risk of cardiovascular complications before elective surgery. Material and methods. The study included 109 patients with malignant neoplasms of the head and neck with concomitant coronary artery disease, aged 38 to 78 years (mean age 60,17 ± 0,78 years: 39 (35.8% males and 70 (64.2% women. The vast majority of patients (60 persons (55.0% had thyroid cancer. Before surgery, all patients have ECG at rest, a two-dimensional echocardiography, determined the number of red blood cells in the peripheral blood, hemoglobin and hematocrit, fasting glucose, fibrinogen, plasma creatinine, calculated GFR by Cockcroft-Gault and MDRD (Modification of Diet in Renal Disease Study, investigated paired troponins I. On the day of surgery all patients underwent ECG monitoring. To identify predictors of adverse CHD during surgical interventions used Cox proportional hazards models. Results. New criteria for evaluation of individual perioperative risk in the performance of interventions for head and neck tumors include: body mass index less than 22.79 kg/m2, height168 cm more, the minute volume of blood is less than 5.027 l/min, hematocrit greater than 0.46 l/l, GFR (MDRD less than 75 ml/min, the duration of ST-segment elevation more than 39 minutes per day and maximum ST segment elevation more than 139 mV in patients with documentedischemic heart disease. Сonclutions. Consideration of these parameters allows to identify a cohort of patients with proven coronary artery disease patients with high risk of cardiovascular complications in non-cardiac surgical interventions moderate surgical risk for tumors of the head and neck.

  13. Flowing fluid electrical conductivity logging of a deep borehole during and following drilling: estimation of transmissivity, water salinity and hydraulic head of conductive zones

    Science.gov (United States)

    Doughty, Christine; Tsang, Chin-Fu; Rosberg, Jan-Erik; Juhlin, Christopher; Dobson, Patrick F.; Birkholzer, Jens T.

    2017-03-01

    Flowing fluid electrical conductivity (FFEC) logging is a hydrogeologic testing method that is usually conducted in an existing borehole. However, for the 2,500-m deep COSC-1 borehole, drilled at Åre, central Sweden, it was done within the drilling period during a scheduled 1-day break, thus having a negligible impact on the drilling schedule, yet providing important information on depths of hydraulically conductive zones and their transmissivities and salinities. This paper presents a reanalysis of this set of data together with a new FFEC logging data set obtained soon after drilling was completed, also over a period of 1 day, but with a different pumping rate and water-level drawdown. Their joint analysis not only results in better estimates of transmissivity and salinity in the conducting fractures intercepted by the borehole, but also yields the hydraulic head values of these fractures, an important piece of information for the understanding of hydraulic structure of the subsurface. Two additional FFEC logging tests were done about 1 year later, and are used to confirm and refine this analysis. Results show that from 250 to 2,000 m depths, there are seven distinct hydraulically conductive zones with different hydraulic heads and low transmissivity values. For the final test, conducted with a much smaller water-level drawdown, inflow ceased from some of the conductive zones, confirming that their hydraulic heads are below the hydraulic head measured in the wellbore under non-pumped conditions. The challenges accompanying 1-day FFEC logging are summarized, along with lessons learned in addressing them.

  14. Pengenalan Pose Tangan Menggunakan HuMoment

    Directory of Open Access Journals (Sweden)

    Dina Budhi Utami

    2017-02-01

    Full Text Available Computer vision yang didasarkan pada pengenalan bentuk memiliki banyak potensi dalam interaksi manusia dan komputer. Pose tangan dapat dijadikan simbol interaksi manusia dengan komputer seperti halnya pada penggunaan berbagai pose tangan pada bahasa isyarat. Berbagai pose tangan dapat digunakan untuk menggantikan fungsi mouse, untuk mengendalikan robot, dan sebagainya. Penelitian ini difokuskan pada pembangunan sistem pengenalan pose tangan menggunakan HuMoment. Proses pengenalan pose tangan dimulai dengan melakukan segmentasi citra masukan untuk menghasilkan citra ROI (Region of Interest yaitu area telapak tangan. Selanjutnya dilakukan proses deteksi tepi. Kemudian dilakukan ekstraksi nilai HuMoment. Nilai HuMoment dikuantisasikan ke dalam bukukode yang dihasilkan dari proses pelatihan menggunakan K-Means. Proses kuantisasi dilakukan dengan menghitung nilai Euclidean Distance terkecil antara nilai HuMomment citra masukan dan bukukode. Berdasarkan hasil penelitian, nilai akurasi sistem dalam mengenali pose tangan adalah 88.57%.

  15. Estimating head and neck tissue dose from x-ray scatter to physicians performing x-ray guided cardiovascular procedures: a phantom study.

    Science.gov (United States)

    Fetterly, Kenneth A; Schueler, Beth A; Grams, Michael P; Sturchio, Glenn M

    2017-03-20

    Physicians performing x-ray guided interventional procedures have a keen interest in radiation safety. Radiation dose to tissues and organs of the head and neck are of particular interest because they are not routinely protected by wearable radiation safety devices. This study was conducted to facilitate estimation of radiation dose to tissues of the head and neck of interventional physicians based on the dose recorded by a personal dosimeter worn on the left collar. Scatter beam qualities maximum energy and HVL were measured for 40 scatter beams emitting from an anthropomorphic patient phantom. Variables of the scatter beams included scatter angle (35° and 90°), primary beam peak tube potential (60, 80, 100, and 120 kVp), and 5 Cu spectral filter thicknesses (0-0.9 mm). Four reference scatter beam qualities were selected to represent the range of scatter beams realized in a typical practice. A general radiographic x-ray tube was tuned to produce scatter-equivalent radiographic beams and used to simultaneously expose the head and neck of an anthropomorphic operator phantom and radiochromic film. The geometric relationship between the x-ray source of the scatter-equivalent beams and the operator phantom was set to mimic that between a patient and physician performing an invasive cardiovascular procedure. Dose to the exterior surface of the operator phantom was measured with both 3 × 3 cm2 pieces of film and personal dosimeters positioned at the location of the left collar. All films were scanned with a calibrated flatbed scanner, which converted the film's reflective density to dose. Films from the transverse planes of the operator phantom provided 2D maps of the dose distribution within the phantom. These dose maps were normalized by the dose at the left collar, providing 2D percent of left collar dose (LCD) maps. The percent LCD maps were overlain with bony anatomy CT images of the operator phantom and estimates of percent LCD to the left, right and whole

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

    Directory of Open Access Journals (Sweden)

    Gaoli Sang

    2016-01-01

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

  17. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

    Directory of Open Access Journals (Sweden)

    Muhammad Ilyas

    2016-05-01

    Full Text Available This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF and Unscented Kalman filter (UKF were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level.

  18. Estimation of the depth to the fresh-water/salt-water interface from vertical head gradients in wells in coastal and island aquifers

    Science.gov (United States)

    Izuka, Scot K.; Gingerich, Stephen B.

    An accurate estimate of the depth to the theoretical interface between fresh, water and salt water is critical to estimates of well yields in coastal and island aquifers. The Ghyben-Herzberg relation, which is commonly used to estimate interface depth, can greatly underestimate or overestimate the fresh-water thickness, because it assumes no vertical head gradients and no vertical flow. Estimation of the interface depth needs to consider the vertical head gradients and aquifer anisotropy that may be present. This paper presents a method to calculate vertical head gradients using water-level measurements made during drilling of a partially penetrating well; the gradient is then used to estimate interface depth. Application of the method to a numerically simulated fresh-water/salt-water system shows that the method is most accurate when the gradient is measured in a deeply penetrating well. Even using a shallow well, the method more accurately estimates the interface position than does the Ghyben-Herzberg relation where substantial vertical head gradients exist. Application of the method to field data shows that drilling, collection methods of water-level data, and aquifer inhomogeneities can cause difficulties, but the effects of these difficulties can be minimized. Résumé Une estimation précise de la profondeur de l'interface théorique entre l'eau douce et l'eau salée est un élément critique dans les estimations de rendement des puits dans les aquifères insulaires et littoraux. La relation de Ghyben-Herzberg, qui est habituellement utilisée pour estimer la profondeur de cette interface, peut fortement sous-estimer ou surestimer l'épaisseur de l'eau douce, parce qu'elle suppose l'absence de gradient vertical de charge et d'écoulement vertical. L'estimation de la profondeur de l'interface requiert de prendre en considération les gradients verticaux de charge et l'éventuelle anisotropie de l'aquifère. Cet article propose une méthode de calcul des

  19. Pose-robust face recognition using shape-adapted texture features

    Science.gov (United States)

    Gernoth, Thorsten; Goossen, André; Grigat, Rolf-Rainer

    2011-03-01

    Unconstrained environments with variable ambient illumination and changes of head pose are still challenging for many face recognition systems. To recognize a person independent of pose, we first fit an active appearance model to a given facial image. Shape information is used to transform the face into a pose-normalized representation. We decompose the transformed face into local regions and extract texture features from these not necessarily rectangular regions using a shape-adapted discrete cosine transform. We show that these features contain sufficient discriminative information to recognize persons across changes in pose. Furthermore, our experimental results show a significant improvement in face recognition performance on faces with pose variations when compared with a block-DCT based feature extraction technique in an access control scenario.

  20. SU-E-J-58: Patient-Specific Biomechanical Head and Neck Models for Interfraction Dose Accumulation.

    Science.gov (United States)

    Santhanam, A; Ennis, D; Low, D; Kupelian, P

    2012-06-01

    In this abstract, we discuss a biomechanical head and neck model that will be able to represent patient setup variations as well as physiologic changes and subsequently enable dose calculations on the deformed anatomy. We selected Multi Pose MRI as the imaging modality to aid in model development and validation. The MRI data allowed us to build a biomechanically predictive model that will enable accurate estimation of tumor position when seeded with CT data alone. The soft tissue contrast and lack of ionizing radiation when using MRI enabled us to acquire extensive imaging datasets with a suitable variety of head pose variations. These poses were selected to encompass the clinical positioning variations so that the resulting model will accurately reflect internal organ motion and deformation. All images were acquired using an 8-channel, 1.5T research MRI system in radiology. The imaging volume extended from about T3(upper thoracic vertebrae) to the top of the head, thereby covering the entire head and neck. Model components included: muscles, skeletal bones, lymph nodes, fat tissues, and organs such as salivary glands, tendons, andligaments. At first, one MRI image dataset was selected as the reference image. The biometric properties (length, volume, mass, shape), hinge constraints of the bones, and the biomechanical properties of each of the anatomies were estimated using MRIs acquired at different head and neck poses. The model's ability to represent different head and neck postures can be illustrated by observing the internal tissue deformations andthe model's ability to represent different postures. Results show that the biomechanical model was able to simulate different poses that may be exhibited during interfraction patient setup variations and intrafraction patient motion. Future work would focus on integrating dose calculations on the deforming model and validating the model deformations. © 2012 American Association of Physicists in Medicine.

  1. Fiducial Marker Detection and Pose Estimation From LIDAR Range Data

    Science.gov (United States)

    2010-03-01

    52 software, such as Blender or constructed from source code. Figure 9 shows an example scene and the generated point cloud from the scene...applications to image analysis and automated cartography. Communications of the ACM, 24(6), 381–395. Bradski, G., & Kaehler, A. (2008). Learning OpenCV

  2. Pose estimation for mobile devices and augmented reality

    NARCIS (Netherlands)

    Caarls, J.

    2009-01-01

    In this thesis we introduce the reader to the field of Augmented Reality (AR) and describe aspects of an AR system. We show the current uses in treatment of phobias, games, sports and industry. We present the challenges for Optical See-Through Augmented Reality in which the real world is perceived

  3. Pose estimation for mobile devices and augmented reality

    NARCIS (Netherlands)

    Van Vliet, L.J.; Jonker, P.P.; Caarls, J.

    In this thesis we introduce the reader to the field of Augmented Reality (AR) and describe aspects of an AR system. We show the current uses in treatment of phobias, games, sports and industry. We present the challenges for Optical See-Through Augmented Reality in which the real world is perceived

  4. Online coupled camera pose estimation and dense reconstruction from video

    Science.gov (United States)

    Medioni, Gerard; Kang, Zhuoliang

    2016-11-01

    A product may receive each image in a stream of video image of a scene, and before processing the next image, generate information indicative of the position and orientation of an image capture device that captured the image at the time of capturing the image. The product may do so by identifying distinguishable image feature points in the image; determining a coordinate for each identified image feature point; and for each identified image feature point, attempting to identify one or more distinguishable model feature points in a three dimensional (3D) model of at least a portion of the scene that appears likely to correspond to the identified image feature point. Thereafter, the product may find each of the following that, in combination, produce a consistent projection transformation of the 3D model onto the image: a subset of the identified image feature points for which one or more corresponding model feature points were identified; and, for each image feature point that has multiple likely corresponding model feature points, one of the corresponding model feature points. The product may update a 3D model of at least a portion of the scene following the receipt of each video image and before processing the next video image base on the generated information indicative of the position and orientation of the image capture device at the time of capturing the received image. The product may display the updated 3D model after each update to the model.

  5. Pose Estimation of Web-Shared Landscape Pictures

    OpenAIRE

    T. Produit; Tuia, D.; Lepetit, V.; GOLAY, F.

    2014-01-01

    We propose a robust method for registering high oblique images of landscapes. Typically, an input image can be registered by matching it against a set of registered images of the same location. While this has been shown to work very well for images of popular urban landmarks, registering landscape images remains a very challenging task: For a given place, only a very small amount of registered images is generally already available on photo-sharing platforms. Moreover, the appearance ...

  6. Pose Estimation of Interacting People using Pictorial Structures

    DEFF Research Database (Denmark)

    Fihl, Preben; Moeslund, Thomas B.

    2010-01-01

    contributions by combining color-based appearance and edge information using a measure of the local quality of the appearance feature. In this way we not only combine the two types of features but dynamically find the optimal weighting of them. We further enable the method to handle occlusions by searching...

  7. Students’ Creativity: Problem Posing in Structured Situation

    Science.gov (United States)

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

    2018-01-01

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

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

    Science.gov (United States)

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

    2015-11-01

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

  9. Body-part templates for recovery of 2D human poses under occlusion

    NARCIS (Netherlands)

    Poppe, Ronald Walter; Poel, Mannes; Perales, F.J.; Fisher, R.B.

    2008-01-01

    Detection of humans and estimation of their 2D poses from a single image are challenging tasks. This is especially true when part of the observation is occluded. However, given a limited class of movements, poses can be recovered given the visible body-parts. To this end, we propose a novel template

  10. Electric field estimation of deep transcranial magnetic stimulation clinically used for the treatment of neuropsychiatric disorders in anatomical head models.

    Science.gov (United States)

    Parazzini, Marta; Fiocchi, Serena; Chiaramello, Emma; Roth, Yiftach; Zangen, Abraham; Ravazzani, Paolo

    2017-05-01

    Literature studies showed the ability to treat neuropsychiatric disorders using H1 coil, developed for the deep Transcranial Magnetic Stimulation (dTMS). Despite the positive results of the clinical studies, the electric field (E) distributions inside the brain induced by this coil when it is positioned on the scalp according to the clinical studies themselves are not yet precisely estimated. This study aims to characterize the E distributions due to the H1 coil in the brain of two realistic human models by computational electromagnetic techniques and to compare them with the ones due to the figure-of-8 coil, traditionally used in TMS and positioned as such to simulate the clinical experiments. Despite inter-individual differences, our results show that the dorsolateral prefrontal cortex is the region preferentially stimulated by both H1 and figure-of-8 coil when they are placed in the position on the scalp according to the clinical studies, with a more broad and non-focal distribution in the case of H1 coil. Moreover, the H1 coil spreads more than the figure-of-8 coil both in the prefrontal cortex and medial prefrontal cortex and towards some deeper brain structures and it is characterized by a higher penetration depth in the frontal lobe. This work highlights the importance of the knowledge of the electric field distribution in the brain tissues to interpret the outcomes of the experimental studies and to optimize the treatments. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

  11. Yoga Poses Increase Subjective Energy and State Self-Esteem in Comparison to 'Power Poses'.

    Science.gov (United States)

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

    2017-01-01

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

  12. A comprehensive three-dimensional dynamic model of the human head and trunk for estimating lumbar and cervical joint torques and forces from upper body kinematics.

    Science.gov (United States)

    Vette, Albert H; Yoshida, Takashi; Thrasher, T Adam; Masani, K; Popovic, Milos R

    2012-06-01

    Linked-segment representations of human body dynamics have been used extensively in biomechanics, ergonomics, and rehabilitation research to systemize thinking, make predictions, and suggest novel experiments. In the scope of upper body biomechanics, these models play an even more essential role as the human spine dynamics are difficult to study in vivo. No study exists to date, however, that specifically disseminates the technical details of a comprehensive three-dimensional model of the upper body for the purpose of estimating spinal joint torques and forces for a wide range of scenarios. Consequently, researchers are still bound to develop and implement their own models. Therefore, the objective of this study was to design a dynamic model of the upper body that can comprehensively estimate spinal joint torques and forces from upper body kinematics. The proposed three-dimensional model focuses on the actions of the lumbar and cervical vertebrae and consists of five lumbar segments (L1 to L5), the thorax, six cervical segments (C2 to C7), and the head. Additionally, the model: (1) is flexible regarding the kinematic nature of the spinal joints (free, constrained, or fixed); (2) incorporates all geometric and mass-inertia parameters from a single, high-resolution source; and (3) can be feasibly implemented via different inverse dynamics formulations. To demonstrate its practicality, the model was finally employed to estimate the lumbar and cervical joint torques during perturbed sitting using experimental motion data. Considering the growing importance of mathematical predictions, the developed model should become an important resource for researchers in different fields. Copyright © 2011 IPEM. Published by Elsevier Ltd. All rights reserved.

  13. Non-standard and improperly posed problems

    CERN Document Server

    Straughan, Brian; Ames, William F

    1997-01-01

    Written by two international experts in the field, this book is the first unified survey of the advances made in the last 15 years on key non-standard and improperly posed problems for partial differential equations.This reference for mathematicians, scientists, and engineers provides an overview of the methodology typically used to study improperly posed problems. It focuses on structural stability--the continuous dependence of solutions on the initial conditions and the modeling equations--and on problems for which data are only prescribed on part of the boundary.The book addresses continuou

  14. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... examination poses almost no risk to the average patient when appropriate safety guidelines are followed. If sedation is used, there ... have a personal story about radiology? Share your patient story here Images ... Disease Head Injury Brain Tumors Images related ...

  15. Ill-posed equations with transformed argument

    Directory of Open Access Journals (Sweden)

    Simone Gramsch

    2003-01-01

    Full Text Available We discuss the operator transforming the argument of a function in the L2-setting. Here this operator is unbounded and closed. For the approximate solution of ill-posed equations with closed operators, we present a new view on the Tikhonov regularization.

  16. The silent social/emotional signals in left and right cheek poses: a literature review.

    Science.gov (United States)

    Lindell, Annukka K

    2013-01-01

    When posing for a painted or photographic portrait, people are more likely to offer their left, rather than right, cheek (e.g., the Mona Lisa). Why? This paper reviews research investigating the left cheek bias, and the reasons underlying this posing asymmetry. Ruling out mechanical and perceptual biases, the paper focuses on the silent emotional and social signals conveyed by left and right cheek poses, demonstrating that people intuitively offer the left cheek to express emotion and perceive left cheek poses as more emotional. Moreover, because the left cheek appears more emotionally expressive, we unconsciously use cheek shown as a cue when presenting or determining academic specialisation, scientific standing, and even political affiliation. The research is consistent in suggesting that something as subtle as a 15° head turn implicitly influences others' perceptions: if you want to be perceived as open and creative, rather than dry and scientific, it might be time to turn the other cheek.

  17. Blink detection robust to various facial poses.

    Science.gov (United States)

    Lee, Won Oh; Lee, Eui Chul; Park, Kang Ryoung

    2010-11-30

    Applications based on eye-blink detection have increased, as a result of which it is essential for eye-blink detection to be robust and non-intrusive irrespective of the changes in the user's facial pose. However, most previous studies on camera-based blink detection have the disadvantage that their performances were affected by the facial pose. They also focused on blink detection using only frontal facial images. To overcome these disadvantages, we developed a new method for blink detection, which maintains its accuracy despite changes in the facial pose of the subject. This research is novel in the following four ways. First, the face and eye regions are detected by using both the AdaBoost face detector and a Lucas-Kanade-Tomasi (LKT)-based method, in order to achieve robustness to facial pose. Secondly, the determination of the state of the eye (being open or closed), needed for blink detection, is based on two features: the ratio of height to width of the eye region in a still image, and the cumulative difference of the number of black pixels of the eye region using an adaptive threshold in successive images. These two features are robustly extracted irrespective of the lighting variations by using illumination normalization. Thirdly, the accuracy of determining the eye state - open or closed - is increased by combining the above two features on the basis of the support vector machine (SVM). Finally, the SVM classifier for determining the eye state is adaptively selected according to the facial rotation. Experimental results using various databases showed that the blink detection by the proposed method is robust to various facial poses. Copyright © 2010 Elsevier B.V. All rights reserved.

  18. Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements

    National Research Council Canada - National Science Library

    Renato Volpe; Marco Sabatini; Giovanni B. Palmerini

    2017-01-01

    .... Various mission architectures have been either tested in space or studied on Earth. The present study deals with on-orbit relative pose and shape estimation with the use of a monocular camera and a distance sensor...

  19. Radiographic bone texture analysis is correlated with 3D microarchitecture in the femoral head, and improves the estimation of the femoral neck fracture risk when combined with bone mineral density.

    Science.gov (United States)

    Ollivier, Matthieu; Le Corroller, Thomas; Blanc, Guillaume; Parratte, Sébastien; Champsaur, Pierre; Chabrand, Patrick; Argenson, Jean-Noël

    2013-09-01

    Femoral neck fracture is a major public health problem in elderly persons, representing the main source of osteoporosis-related mortality and morbidity. In this study, we aimed at comparing radiographic texture analysis with three-dimensional (3D) microarchitecture in human femurs, and at evaluating whether bone texture analysis improved the assessment of the femoral neck fracture risk other than that obtainable by bone mineral density (BMD). Thirteen osteoporotic femoral heads from patients who fractured their femoral neck and twelve non-fractured femoral heads from osteoarthritic patients were studied using respectively (1) a new high-resolution digital X-ray device (BMA™, D3A Medical Systems) allowing for bone texture analysis with fractal parameter Hmean, and (2) a micro-computed tomograph (CT) for 3D microarchitecture. BMD was measured postoperatively by DXA in all patients in the contralateral femur. In these femoral heads, we found that fractal parameter Hmean was correlated with 3D microarchitecture parameters: bone volume fraction (BV/TV), trabecular number (Tb.N), trabecular separation (Tb.Sp) and fractal dimension (FD) respectively (pfemoral heads from the fractured group than from the non-fractured group (pfemoral neck fracture risk from adjusted r(2)=0.46 to adjusted r(2)=0.67 (pfemoral head, provided accurate discrimination between the femoral heads from the fractured and non-fractured groups, and significantly improved the estimation of the femoral neck fracture risk when combined with BMD. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

  20. Pose Sentences: A new representation for action recognition using sequence of pose words

    NARCIS (Netherlands)

    Hatun, Kardelen; Duygulu, Pinar

    2008-01-01

    We propose a method for recognizing human actions in videos. Inspired from the recent bag-of-words approaches, we represent actions as documents consisting of words, where a word refers to the pose in a frame. Histogram of oriented gradients (HOG) features are used to describe poses, which are then

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

    Science.gov (United States)

    Silber, Steven; Cai, Jinfa

    2017-01-01

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

  2. Quadratic optimization in ill-posed problems

    Science.gov (United States)

    Ben Belgacem, F.; Kaber, S.-M.

    2008-10-01

    Ill-posed quadratic optimization frequently occurs in control and inverse problems and is not covered by the Lax-Milgram-Riesz theory. Typically, small changes in the input data can produce very large oscillations on the output. We investigate the conditions under which the minimum value of the cost function is finite and we explore the 'hidden connection' between the optimization problem and the least-squares method. Eventually, we address some examples coming from optimal control and data completion, showing how relevant our contribution is in the knowledge of what happens for various ill-posed problems. The results we state bring a substantial improvement to the analysis of the regularization methods applied to the ill-posed quadratic optimization problems. Indeed, for the cost quadratic functions bounded from below the Lavrentiev method is just the Tikhonov regularization for the 'hidden least-squares' problem. As a straightforward result, Lavrentiev's regularization exhibits better regularization and convergence results than expected at first glance.

  3. Radiographic bone texture analysis is correlated with 3D microarchitecture in the femoral head, and improves the estimation of the femoral neck fracture risk when combined with bone mineral density

    Energy Technology Data Exchange (ETDEWEB)

    Ollivier, Matthieu [Aix-Marseille Université, CNRS, ISM UMR 7287, 13284 Marseille (France); APHM, Hôpital Sainte Marguerite, Orthopedic Surgery Department, 13009 Marseille (France); Le Corroller, Thomas, E-mail: Thomas.LeCorroller@ap-hm.fr [Aix-Marseille Université, CNRS, ISM UMR 7287, 13284 Marseille (France); APHM, Hôpital Sainte Marguerite, Radiology Department, 13009 Marseille (France); Blanc, Guillaume [APHM, Hôpital Sainte Marguerite, Orthopedic Surgery Department, 13009 Marseille (France); Parratte, Sébastien [Aix-Marseille Université, CNRS, ISM UMR 7287, 13284 Marseille (France); APHM, Hôpital Sainte Marguerite, Orthopedic Surgery Department, 13009 Marseille (France); Champsaur, Pierre [Aix-Marseille Université, CNRS, ISM UMR 7287, 13284 Marseille (France); APHM, Hôpital Sainte Marguerite, Radiology Department, 13009 Marseille (France); Chabrand, Patrick [Aix-Marseille Université, CNRS, ISM UMR 7287, 13284 Marseille (France); Argenson, Jean-Noël [Aix-Marseille Université, CNRS, ISM UMR 7287, 13284 Marseille (France); APHM, Hôpital Sainte Marguerite, Orthopedic Surgery Department, 13009 Marseille (France)

    2013-09-15

    Purpose: Femoral neck fracture is a major public health problem in elderly persons, representing the main source of osteoporosis-related mortality and morbidity. In this study, we aimed at comparing radiographic texture analysis with three-dimensional (3D) microarchitecture in human femurs, and at evaluating whether bone texture analysis improved the assessment of the femoral neck fracture risk other than that obtainable by bone mineral density (BMD). Materials and methods: Thirteen osteoporotic femoral heads from patients who fractured their femoral neck and twelve non-fractured femoral heads from osteoarthritic patients were studied using respectively (1) a new high-resolution digital X-ray device (BMA™, D3A Medical Systems) allowing for bone texture analysis with fractal parameter Hmean, and (2) a micro-computed tomograph (CT) for 3D microarchitecture. BMD was measured postoperatively by DXA in all patients in the contralateral femur. Results: In these femoral heads, we found that fractal parameter Hmean was correlated with 3D microarchitecture parameters: bone volume fraction (BV/TV), trabecular number (Tb.N), trabecular separation (Tb.Sp) and fractal dimension (FD) respectively (p < 0.05). Then, fractal parameter Hmean was significantly lower in the femoral heads from the fractured group than from the non-fractured group (p < 0.01). Finally, multiple regression analysis showed that combining bone texture analysis and total hip BMD significantly improved the estimation of the femoral neck fracture risk from adjusted r{sup 2} = 0.46 to adjusted r{sup 2} = 0.67 (p < 0.05). Conclusion: Radiographic bone texture analysis was correlated with 3D microarchitecture parameters in the femoral head, provided accurate discrimination between the femoral heads from the fractured and non-fractured groups, and significantly improved the estimation of the femoral neck fracture risk when combined with BMD.

  4. The impact of interpreted flow regimes during constant head injection tests on the estimated transmissivity from injection tests and difference flow logging

    Energy Technology Data Exchange (ETDEWEB)

    Hjerne, Calle; Ludvigsson, Jan-Erik; Harrstroem, Johan [Geosigma AB, Uppsala (Sweden)

    2013-04-15

    A large number of constant head injection tests were carried out in the site investigation at Forsmark using the Pipe String System, PSS3. During the original evaluation of the tests the dominating transient flow regimes during both the injection and recovery period were interpreted together with estimation of hydraulic parameters. The flow regimes represent different flow and boundary conditions during the tests. Different boreholes or borehole intervals may display different distributions of flow regimes. In some boreholes good agreement was obtained between the results of the injection tests and difference flow logging with Posiva flow log (PFL) but in other boreholes significant discrepancies were found. The main objective of this project is to study the correlation between transient flow regimes from the injection tests and other borehole features such as transmissivity, depth, geology, fracturing etc. Another subject studied is whether observed discrepancies between estimated transmissivity from difference flow logging and injection tests can be correlated to interpreted flow regimes. Finally, a detailed comparison between transient and stationary evaluation of transmissivity from the injection tests in relation to estimated transmissivity from PFL tests in corresponding sections is made. Results from previous injection tests in 5 m sections in boreholes KFM04, KFM08A and KFM10A were used. Only injection tests above the (test-specific) measurement limit regarding flow rate are included in the analyses. For all of these tests transient flow regimes were interpreted. In addition, results from difference flow logging in the corresponding 5 m test sections were used. Finally, geological data of fractures together with rock and fracture zone properties have been used in the correlations. Flow regimes interpreted from the injection period of the tests are generally used in the correlations but deviations between the interpreted flow regimes from the injection and

  5. How does the estimated phase of menstrual cycle or menopause influence the prevalence of vasovagal syncope induced by head-up tilt test.

    Science.gov (United States)

    Pietrucha, Artur Z; Jędrzejczyk-Spaho, Joanna; Konduracka, Ewa; Bzukała, Irena; Krawczyk, Krzysztof; Kruszelnicka-Kwiatkowska, Olga; Nessler, Jadwiga

    2017-01-01

    The purpose of this study was to evaluate the prevalence of syncope induced by head-up tilt test (HUTT) and the type of positive vasovagal response to the orthostatic stress in a relationship to the estimated phase of menstrual cycle (follicular phase, luteal phase) or menopause. We observed a cohort of 500 women at age 13-89 years (median of age 37.5), referred to HUTT. Phase of the menstrual cycle was determined on the basis of the usual length of menstrual cycle and the day of the cycle at the time of the study. We assumed that the length of the luteal phase is constant and it is 14 days. In premenopausal patients, the occurrence of the mixed and cardioinhibitory response was significantly more frequent in comparison to postmenopausal women (48.8 vs. 35.1% and 19.7 vs. 12.4%, respectively; p < 0.00001), while the occurrence of the vasodepressive one was significantly less frequent (7.3% vs. 28.6%; p < 0.00001) in that group of patients. Women in follicular phase presented vasodepressive response during HUTT more often than woman in the luteal phase (10.0% vs. 4.1%, p < 0.00001). Among women referred for HUTT, the prevalence of the vasovagal syndrome did not differ between those that were pre- and post-menopausal. Higher incidence of vasodepressive reaction in postmenopausal women was observed. Among the premenopausal women, the vasodepressive type of vasovagal syndrome occurred more often in follicular then in luteal phase.

  6. Head Injuries

    Science.gov (United States)

    ... ATV) Safety Balance Disorders Knowing Your Child's Medical History First Aid: Falls First Aid: Head Injuries Preventing Children's Sports Injuries Getting Help: Know the Numbers Concussions Stay ...

  7. ONKALO POSE experiment. Phase 3: execution and monitoring

    Energy Technology Data Exchange (ETDEWEB)

    Valli, J. [Poeyry Finland Oy, Vantaa (Finland); Hakala, M. [KMS-Hakala Oy, Nokia (Finland); Wanne, T. [Saanio and Riekkola Oy, Helsinki (Finland); Kantia, P. [Geofcon Oy, Rovaniemi (Finland); Siren, T.

    2014-01-15

    In-depth knowledge of the in situ stress state at the Olkiluoto site is critical for stability assessment both prior to and after deposition of spent nuclear fuel in order to understand and avoid potential damage to the rock at the site. Posiva's Olkiluoto Spalling Experiment (POSE) was designed specifically for this purpose with three primary goals: establish the in situ spalling/damage strength of Olkiluoto migmatitic gneiss, establish the state of in situ stress at the -345 m depth level and act as a Prediction-Outcome (P-O) exercise. Phases 1 and 2 of POSE are outlined in WR 2012-60. The objectives of the third phase of the POSE experiment are the same as the original objectives outlined above. This report outlines the execution and results of the third phase of the POSE experiment. The third phase of the experiment involved internally heating the third experimental hole (ONK-EH3) of the POSE niche in order to cause a symmetrical thermal stress increase around the hole due to the thermal expansion of rock. This thermomechanically induced stress increase, coupled with the estimated existing in situ stress state, should cause the maximum principal stress around the hole to exceed the predicted spalling strength of the rock around the hole. ONK-EH3 is located almost completely in pegmatitic granite. Four fractures near the top of the hole were mapped after boring ONK-EH3, and a tensile failure located at the contact between mica-rich gneiss and pegmatitic granite was observed 18 months after boring, prior to the experiment. Based on predictive calculations and the estimated in situ state of stress, the maximum principal stress magnitude should reach ca. 100 MPa when the temperature was just below 100 deg C after 12 weeks of heating. There were problems with the heater control unit at the beginning of the experiment, after which heating proceeded according to plan. The crack damage threshold of pegmatitic granite has been determined to be 85 ±17 MPa at

  8. A method for a priori estimation of best feasible DVH for organs-at-risk: Validation for head and neck VMAT planning.

    Science.gov (United States)

    Ahmed, Saeed; Nelms, Benjamin; Gintz, Dawn; Caudell, Jimmy; Zhang, Geoffrey; Moros, Eduardo G; Feygelman, Vladimir

    2017-10-01

    Despite improvements in optimization and automation algorithms, the quality of radiation treatment plans still varies dramatically. A tool that allows a priori estimation of the best possible sparing (Feasibility DVH, or FDVH) of an organ at risk (OAR) in high-energy photon planning may help reduce plan quality variability by deriving patient-specific OAR goals prior to optimization. Such a tool may be useful for (a) meaningfully evaluating patient-specific plan quality and (b) supplying best theoretically achievable DVH goals, thus pushing the solution toward automatic Pareto optimality. This work introduces such a tool and validates it for clinical Head and Neck (HN) datasets. To compute FDVH, first the targets are assigned uniform prescription doses, with no reference to any particular beam arrangement. A benchmark 3D dose built outside the targets is estimated using a series of energy-specific dose spread calculations reflecting observed properties of radiation distribution in media. For the patient, the calculation is performed on the heterogeneous dataset, taking into account the high- (penumbra driven) and low- (PDD and scatter-driven) gradient dose spreading. The former is driven mostly by target dose and surface shape, while the latter adds the dependence on target volume. This benchmark dose is used to produce the "best possible sparing" FDVH for an OAR, and based on it, progressively more easily achievable FDVH curves can be estimated. Validation was performed using test cylindrical geometries as well as 10 clinical HN datasets. For HN, VMAT plans were prepared with objectives of covering the primary and the secondary (bilateral elective neck) PTVs while addressing only one OAR at a time, with the goal of maximum sparing. The OARs were each parotid, the larynx, and the inferior pharyngeal constrictor. The difference in mean OAR doses was computed for the achieved vs. FDVHs, and the shapes of those DVHs were compared by means of the Dice similarity

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

    Science.gov (United States)

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

    2017-07-25

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

  10. Head Lice

    Science.gov (United States)

    ... 1044-1047. Canyon, DV, Speare R, et al . “Spatial and kinetic factors for the transfer of head ... for children. Natural products can give parents false sense of safety If using a natural product or ...

  11. Head, Neck, and Oral Cancer

    Science.gov (United States)

    ... cancer of the head, neck and mouth. The Oral Cancer Foundation estimates that close to 42,000 Americans ... diagnosed with oral or pharyngeal cancer this year. Oral cancer’s mortality is particularly high, not because it is ...

  12. 2D Methods for pose invariant face recognition

    CSIR Research Space (South Africa)

    Mokoena, Ntabiseng

    2016-12-01

    Full Text Available The ability to recognise face images under random pose is a task that is done effortlessly by human beings. However, for a computer system, recognising face images under varying poses still remains an open research area. Face recognition across pose...

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

    Science.gov (United States)

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

    2017-08-01

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

  14. A Bayesian framework for human body pose tracking from depth image sequences.

    Science.gov (United States)

    Zhu, Youding; Fujimura, Kikuo

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Youding Zhu

    2010-05-01

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

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

    Science.gov (United States)

    Zhu, Youding; Fujimura, Kikuo

    2010-01-01

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

  17. Head Start.

    Science.gov (United States)

    Greenman, Geri

    2000-01-01

    Discusses an art project in which students created drawings of mop heads. Explains that the approach of drawing was more important than the subject. States that the students used the chiaroscuro technique, used by Rembrandt and Caravaggio, in which light appears out of the darkness. (CMK)

  18. Estimating the intended sound direction of the user: toward an auditory brain-computer interface using out-of-head sound localization.

    Directory of Open Access Journals (Sweden)

    Isao Nambu

    Full Text Available The auditory Brain-Computer Interface (BCI using electroencephalograms (EEG is a subject of intensive study. As a cue, auditory BCIs can deal with many of the characteristics of stimuli such as tone, pitch, and voices. Spatial information on auditory stimuli also provides useful information for a BCI. However, in a portable system, virtual auditory stimuli have to be presented spatially through earphones or headphones, instead of loudspeakers. We investigated the possibility of an auditory BCI using the out-of-head sound localization technique, which enables us to present virtual auditory stimuli to users from any direction, through earphones. The feasibility of a BCI using this technique was evaluated in an EEG oddball experiment and offline analysis. A virtual auditory stimulus was presented to the subject from one of six directions. Using a support vector machine, we were able to classify whether the subject attended the direction of a presented stimulus from EEG signals. The mean accuracy across subjects was 70.0% in the single-trial classification. When we used trial-averaged EEG signals as inputs to the classifier, the mean accuracy across seven subjects reached 89.5% (for 10-trial averaging. Further analysis showed that the P300 event-related potential responses from 200 to 500 ms in central and posterior regions of the brain contributed to the classification. In comparison with the results obtained from a loudspeaker experiment, we confirmed that stimulus presentation by out-of-head sound localization achieved similar event-related potential responses and classification performances. These results suggest that out-of-head sound localization enables us to provide a high-performance and loudspeaker-less portable BCI system.

  19. Heads You Win, Tails I Lose: The Dilemma Mandatory Reporting Poses for Teachers

    Science.gov (United States)

    Falkiner, Meredith; Thomson, Donald; Guadagno, Belinda; Day, Andrew

    2017-01-01

    Australian teachers are mandated to report instances of child maltreatment should they suspect a child is being maltreated. Some teachers are reluctant to make a report based on suspicion alone. This review examines the barriers that may prevent teachers from reporting. It is suggested that to overcome these barriers and form a reasonable belief…

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

    Science.gov (United States)

    Yin, Xi; Liu, Xiaoming

    2018-02-01

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

  1. Spectral approximation of variationally-posed eigenvalue problems by nonconforming methods

    Science.gov (United States)

    Alonso, Ana; Dello Russo, Anahí

    2009-01-01

    This paper deals with the nonconforming spectral approximation of variationally posed eigenvalue problems. It is an extension to more general situations of known previous results about nonconforming methods. As an application of the present theory, convergence and optimal order error estimates are proved for the lowest order Crouzeix-Raviart approximation of the eigenpairs of two representative second-order elliptical operators.

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Miriam Rennung

    2016-09-01

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

  4. Fringe-reflection photogrammetry based on poses calibration with planar mirror reflection

    Science.gov (United States)

    Xiao, Yong-Liang; Zhong, Jianxin; Zhang, Qican; Su, Xianyu; You, Zhisheng

    2017-10-01

    Since liquid crystal display (LCD) screen locates outside of the camera's field of view in fringe-reflection photogrammetry, fringes displayed on LCD screen are obtained through specular reflection by a fixed camera. Thus, the pose calibration between camera and LCD screen is one of the main challenges in fringe-reflection photogrammetry. A markerless planar mirror is used to reflect the LCD screen more than three times, and the fringes are mapped into the fixed camera. The geometrical calibration can be accomplished by estimating the pose between the camera and virtual image of fringes. With the help of the relation between their pose, incidence and reflection ray can be unified in the camera frame, forward triangulation intersection can be operated in the camera frame to measure 3D coordinate of specular surface. In the final optimization, constraint bundle adjustment is operated to refine simultaneously the camera intrinsic parameters including distortion coefficients, estimated geometrical pose between LCD screen and camera, 3D coordinate of specular surface, with the help of absolute phase collinear constraint. Results of simulations and experiments demonstrate that the pose calibration with planar mirror reflection is simple, feasible and constraint bundle adjustment can enhance the three-dimensional coordinate measurement accuracy in fringe-reflection photogrammetry.

  5. Local Feature Learning for Face Recognition under Varying Poses

    DEFF Research Database (Denmark)

    Duan, Xiaodong; Tan, Zheng-Hua

    2015-01-01

    In this paper, we present a local feature learning method for face recognition to deal with varying poses. As opposed to the commonly used approaches of recovering frontal face images from profile views, the proposed method extracts the subject related part from a local feature by removing the pose...... related part in it on the basis of a pose feature. The method has a closed-form solution, hence being time efficient. For performance evaluation, cross pose face recognition experiments are conducted on two public face recognition databases FERET and FEI. The proposed method shows a significant...... recognition improvement under varying poses over general local feature approaches and outperforms or is comparable with related state-of-the-art pose invariant face recognition approaches. Copyright ©2015 by IEEE....

  6. Reversible multi-head finite automata characterize reversible logarithmic space

    DEFF Research Database (Denmark)

    Axelsen, Holger Bock

    2012-01-01

    Deterministic and non-deterministic multi-head finite automata are known to characterize the deterministic and non- deterministic logarithmic space complexity classes, respectively. Recently, Morita introduced reversible multi-head finite automata (RMFAs), and posed the question of whether RMFAs...... characterize reversible logarithmic space as well. Here, we resolve the question affirmatively, by exhibiting a clean RMFA simulation of logarithmic space reversible Turing machines. Indirectly, this also proves that reversible and deterministic multi-head finite automata recognize the same languages....

  7. Pose-Normalized Image Generation for Person Re-identification

    OpenAIRE

    Qian, Xuelin; Fu, Yanwei; Wang, Wenxuan; Xiang, Tao; Wu, Yang; Jiang, Yu-Gang; Xue, Xiangyang

    2017-01-01

    Person Re-identification (re-id) faces two major challenges: the lack of cross-view paired training data and learning discriminative identity-sensitive and view-invariant features in the presence of large pose variations. In this work, we address both problems by proposing a novel deep person image generation model for synthesizing realistic person images conditional on pose. The model is based on a generative adversarial network (GAN) and used specifically for pose normalization in re-id, th...

  8. Assessing the risk posed by natural hazards to infrastructures

    Science.gov (United States)

    Eidsvig, Unni Marie K.; Kristensen, Krister; Vidar Vangelsten, Bjørn

    2017-03-01

    This paper proposes a model for assessing the risk posed by natural hazards to infrastructures, with a focus on the indirect losses and loss of stability for the population relying on the infrastructure. The model prescribes a three-level analysis with increasing level of detail, moving from qualitative to quantitative analysis. The focus is on a methodology for semi-quantitative analyses to be performed at the second level. The purpose of this type of analysis is to perform a screening of the scenarios of natural hazards threatening the infrastructures, identifying the most critical scenarios and investigating the need for further analyses (third level). The proposed semi-quantitative methodology considers the frequency of the natural hazard, different aspects of vulnerability, including the physical vulnerability of the infrastructure itself, and the societal dependency on the infrastructure. An indicator-based approach is applied, ranking the indicators on a relative scale according to pre-defined ranking criteria. The proposed indicators, which characterise conditions that influence the probability of an infrastructure malfunctioning caused by a natural event, are defined as (1) robustness and buffer capacity, (2) level of protection, (3) quality/level of maintenance and renewal, (4) adaptability and quality of operational procedures and (5) transparency/complexity/degree of coupling. Further indicators describe conditions influencing the socio-economic consequences of the infrastructure malfunctioning, such as (1) redundancy and/or substitution, (2) cascading effects and dependencies, (3) preparedness and (4) early warning, emergency response and measures. The aggregated risk estimate is a combination of the semi-quantitative vulnerability indicators, as well as quantitative estimates of the frequency of the natural hazard, the potential duration of the infrastructure malfunctioning (e.g. depending on the required restoration effort) and the number of users of

  9. Is HEADS in our heads?

    DEFF Research Database (Denmark)

    Boisen, Kirsten A; Hertz, Pernille Grarup; Blix, Charlotte

    2016-01-01

    BACKGROUND: Outpatient clinic visits are a window of opportunity to address health risk behaviors and promote a healthier lifestyle among young people. The HEADS (Home, Education, Eating, Activities, Drugs [i.e. substance use including tobacco, alcohol, and illegal drugs], Sexuality [including...... contraception], Safety, Self-harm) interview is a feasible way of exploring health risk behaviors and resilience. OBJECTIVE: The purpose of this study was to evaluate how often HEADS topics were addressed according to young patients and staff in pediatric and adult outpatient clinics. METHODS: We conducted...... care professionals participated. We found only small reported differences between staff and young patients regarding whether home, education, and activity were addressed. However, staff reported twice the rate of addressing smoking, alcohol, illegal drugs, sexuality, and contraception compared to young...

  10. Helping Young Students to Better Pose an Environmental Problem

    Science.gov (United States)

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

    2009-01-01

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

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

    Science.gov (United States)

    Cheng, Lu Pien

    2013-01-01

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

  12. Motor biases do not influence posing orientation in selfies.

    Science.gov (United States)

    Lindell, Annukka K

    2017-01-01

    When posing for portraits people tend to offer their left cheek. This bias is also evident in selfies: informal photographic self-portraits taken with a smartphone. Mechanical biases have been argued to influence selfie posing orientation (predicting that using the left hand favours a stronger left cheek bias), however this hypothesis has not been directly tested. The present study was thus designed to determine whether motor biases influence selfie pose orientation. Three hundred and twenty participants (F = 159, M = 161) were asked to pose for a selfie "as you really are," and completed a handedness measure; hand used to take the selfie and selfie pose orientation were recorded. Ordinal logistic regression confirmed that neither participant handedness nor hand used to capture the selfie predicted selfie pose orientation. Regardless of sex, handedness, or hand used, participants were more likely to present a midline (49.75%) than a left (26.53%) or right (26.72%) cheek pose. Though handedness was a strong predictor of hand used to capture the selfie (left handers favour the left, and right handers the right, hand), it did not predict posing orientation. These results confirm that selfie cheek biases are not simply a residual effect of the mechanics of taking selfies.

  13. Formulas in inverse and ill-posed problems

    CERN Document Server

    Anikonov, Yu E

    1997-01-01

    The Inverse and Ill-Posed Problems Series is a series of monographs publishing postgraduate level information on inverse and ill-posed problems for an international readership of professional scientists and researchers. The series aims to publish works which involve both theory and applications in, e.g., physics, medicine, geophysics, acoustics, electrodynamics, tomography, and ecology.

  14. Non-well-posed infinite-dimensional linear systems

    NARCIS (Netherlands)

    Opmeer, Mark R.; Curtain, Ruth F.

    2006-01-01

    We provide an abstract framework for infinite-dimensional linear systems that are not necessarily well-posed in the standard L2 sense. One example of a system that is not well-posed but does fit into the new abstract framework is the heat equation with Dirichlet control and Neumann observation. The

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

    Directory of Open Access Journals (Sweden)

    Basam Musleh

    2016-09-01

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

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

    Science.gov (United States)

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

    2016-09-14

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

  17. ESPRIT: Exercise Sensing and Pose Recovery Inference Tool Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to develop ESPRIT: an Exercise Sensing and Pose Recovery Inference Tool, in support of NASA's effort in developing crew exercise technologies for...

  18. Health Issues: Do Cell Phones Pose a Health Hazard?

    Science.gov (United States)

    ... Procedures Home, Business, and Entertainment Products Cell Phones Health Issues Share Tweet Linkedin Pin it More sharing ... it Email Print Do cell phones pose a health hazard? Many people are concerned that cell phone ...

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

    Directory of Open Access Journals (Sweden)

    María F. Ayllón

    2016-04-01

    Full Text Available This work shows the relationship between the development of mathematical thinking and creativity with mathematical problem posing and solving. Creativity and mathematics are disciplines that do not usually appear together. Both concepts constitute complex processes sharing elements, such as fluency (number of ideas, flexibility (range of ideas, novelty (unique idea and elaboration (idea development. These factors contribute, among others, to the fact that schoolchildren are competent in mathematics. The problem solving and posing are a very powerful evaluation tool that shows the mathematical reasoning and creative level of a person. Creativity is part of the mathematics education and is a necessary ingredient to perform mathematical assignments. This contribution presents some important research works about problem posing and solving related to the development of mathematical knowledge and creativity. To that end, it is based on various beliefs reflected in the literature with respect to notions of creativity, problem solving and posing.

  20. Inverse and Ill-posed Problems Theory and Applications

    CERN Document Server

    Kabanikhin, S I

    2011-01-01

    The text demonstrates the methods for proving the existence (if et all) and finding of inverse and ill-posed problems solutions in linear algebra, integral and operator equations, integral geometry, spectral inverse problems, and inverse scattering problems. It is given comprehensive background material for linear ill-posed problems and for coefficient inverse problems for hyperbolic, parabolic, and elliptic equations. A lot of examples for inverse problems from physics, geophysics, biology, medicine, and other areas of application of mathematics are included.

  1. Pose measurement of Anterior Pelvic Plane based on inertial measurement unit in total hip replacement surgeries.

    Science.gov (United States)

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

    2016-08-01

    In Total Hip Replacement (THR), inaccurate measurement of Anterior Pelvic Plane (APP), which is usually used as a reference plane, will lead to malposition of the acetabular prosthesis. As a result, the risk of impingement, dislocation and wear will increase and the safe range of motion will be limited. In order to acquire the accurate pose of APP, a measurement system is designed in this paper, which includes two parts: one is used to estimate the initial pose of APP and the other is used to trail dynamic motion of APP. Both parts are composed of an Inertial Measurement Unit (IMU) and magnetometer sensors. An Extended Kalman Filter (EKF) is adopted to fuse the data from IMU and the magnetometer sensors to estimate the orientation of the pelvis. The test results show that the error angle between calculated axis and true axis of the pelvis in geodetic coordinate frame is less than 1.2 degree, which meets the requirement of the surgery.

  2. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... of the Head? What is CT Scanning of the Head? Computed tomography, more commonly known as a ... of page What are some common uses of the procedure? CT scanning of the head is typically ...

  3. Enhanced Pose Normalization and Matching of Non-Rigid Objects based on Support Vector Machine Modelling

    OpenAIRE

    Papadakis, Panagiotis

    2013-01-01

    International audience; The estimation of 3D surface correspondence constitutes a fundamental problem in shape matching and analysis applications. In the presence of non-rigid shape deformations, the ambiguity of surface correspondence increases together with the complexity of registration algorithms. In this paper, we alleviate this problem by means of 3D pose normalization using One-Class Support Vector Machines (OCSVM). In detail, we show how OCSVM are employed in order to increase the con...

  4. Inverse Free Iterative Methods for Nonlinear Ill-Posed Operator Equations

    Directory of Open Access Journals (Sweden)

    Ioannis K. Argyros

    2014-01-01

    ill-posed operator equation F(x=y. The proposed method is a modified form of Tikhonov gradient (TIGRA method considered by Ramlau (2003. The regularization parameter is chosen according to the balancing principle considered by Pereverzev and Schock (2005. The error estimate is derived under a general source condition and is of optimal order. Some numerical examples involving integral equations are also given in this paper.

  5. Very Low Head Turbine Deployment in Canada

    Science.gov (United States)

    Kemp, P.; Williams, C.; Sasseville, Remi; Anderson, N.

    2014-03-01

    The Very Low Head (VLH) turbine is a recent turbine technology developed in Europe for low head sites in the 1.4 - 4.2 m range. The VLH turbine is primarily targeted for installation at existing hydraulic structures to provide a low impact, low cost, yet highly efficient solution. Over 35 VLH turbines have been successfully installed in Europe and the first VLH deployment for North America is underway at Wasdell Falls in Ontario, Canada. Deployment opportunities abound in Canada with an estimated 80,000 existing structures within North America for possible low-head hydro development. There are several new considerations and challenges for the deployment of the VLH turbine technology in Canada in adapting to the hydraulic, environmental, electrical and social requirements. Several studies were completed to determine suitable approaches and design modifications to mitigate risk and confirm turbine performance. Diverse types of existing weirs and spillways pose certain hydraulic design challenges. Physical and numerical modelling of the VLH deployment alternatives provided for performance optimization. For this application, studies characterizing the influence of upstream obstacles using water tunnel model testing as well as full-scale prototype flow dynamics testing were completed. A Cold Climate Adaptation Package (CCA) was developed to allow year-round turbine operation in ice covered rivers. The CCA package facilitates turbine extraction and accommodates ice forces, frazil ice, ad-freezing and cold temperatures that are not present at the European sites. The Permanent Magnet Generator (PMG) presents some unique challenges in meeting Canadian utility interconnection requirements. Specific attention to the frequency driver control and protection requirements resulted in a driver design with greater over-voltage capability for the PMG as well as other key attributes. Environmental studies in Europe included fish friendliness testing comprised of multiple in

  6. Head Impact Laboratory (HIL)

    Data.gov (United States)

    Federal Laboratory Consortium — The HIL uses testing devices to evaluate vehicle interior energy attenuating (EA) technologies for mitigating head injuries resulting from head impacts during mine/...

  7. Students’ Mathematical Creative Thinking through Problem Posing Learning

    Science.gov (United States)

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

    2017-09-01

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

  8. Newton Type Iteration for Tikhonov Regularization of Nonlinear Ill-Posed Problems in Hilbert Scales

    Directory of Open Access Journals (Sweden)

    Monnanda Erappa Shobha

    2014-01-01

    Full Text Available Recently, Vasin and George (2013 considered an iterative scheme for approximately solving an ill-posed operator equation F(x=y. In order to improve the error estimate available by Vasin and George (2013, in the present paper we extend the iterative method considered by Vasin and George (2013, in the setting of Hilbert scales. The error estimates obtained under a general source condition on x0-x^ (x0 is the initial guess and x^ is the actual solution, using the adaptive scheme proposed by Pereverzev and Schock (2005, are of optimal order. The algorithm is applied to numerical solution of an integral equation in Numerical Example section.

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

    Science.gov (United States)

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

    2017-07-01

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

  10. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... News Physician Resources Professions Site Index A-Z Computed Tomography (CT) - Head Computed tomography (CT) of the head uses special x-ray ... Head? What is CT Scanning of the Head? Computed tomography, more commonly known as a CT or CAT ...

  11. A direct method for nonlinear ill-posed problems

    Science.gov (United States)

    Lakhal, A.

    2018-02-01

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

  12. Present and potential security threats posed to civil aviation

    Directory of Open Access Journals (Sweden)

    Stanislav SZABO

    2012-06-01

    Full Text Available Aircraft presents ideal object for terrorist attack. Apart from the risks posed by possible terrorist attacks on airborne aircraft, air terrorism includes the threats to general aviation on the ground, including airports and surrounding infrastructure. Air oriented terrorism in all of its forms can undermine public confidence in the safety of air travel, which could result in negative effects for certain airlines and other firms in aviation industry due to decline in passenger travel and cargo shipment. This article is giving an overview about the redoubtable present and potential future threats posed to in-flight security, and possibilities and solutions how to mitigate the risks on acceptable level.

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

    Science.gov (United States)

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

    2017-09-24

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

  14. Pose and Expression Independent Facial Landmark Localization Using Dense-SURF and the Hausdorff Distance.

    Science.gov (United States)

    Sangineto, Enver

    2013-03-01

    We present an approach to automatic localization of facial feature points which deals with pose, expression, and identity variations combining 3D shape models with local image patch classification. The latter is performed by means of densely extracted SURF-like features, which we call DU-SURF, while the former is based on a multiclass version of the Hausdorff distance to address local classification errors and nonvisible points. The final system is able to localize facial points in real-world scenarios, dealing with out of plane head rotations, expression changes, and different lighting conditions. Extensive experimentation with the proposed method has been carried out showing the superiority of our approach with respect to other state-of-the-art systems. Finally, DU-SURF features have been compared with other modern features and we experimentally demonstrate their competitive classification accuracy and computational efficiency.

  15. Problem Posing as Providing Students with Content-Specific Motives

    NARCIS (Netherlands)

    Klaassen, C.W.J.M.; Doorman, L.M.

    2015-01-01

    We interpret problem posing not as an end in itself, but as a means to add quality to students' process of learning content. Our basic tenet is that all along students know the purpose(s) of what they are doing. This condition is not easily and not often satisfied in education, as we illustrate with

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

    Science.gov (United States)

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

    2016-01-01

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

  17. Astronaut Linda Godwin poses with spacesuit she wore for launch

    Science.gov (United States)

    1994-01-01

    Astronaut Linda M. Godwin, STS-59 payload commander, poses with the spacesuit she wore for launch. She will eventually wear the partial pressure suit for the entry phase of the Space Shuttle Endeavour's week and a half mission in Earth orbit.

  18. Effects of pose and image resolution on automatic face recognition

    NARCIS (Netherlands)

    Mahmood, Zahid; Ali, Tauseef; Khan, Samee U.

    The popularity of face recognition systems have increased due to their use in widespread applications. Driven by the enormous number of potential application domains, several algorithms have been proposed for face recognition. Face pose and image resolutions are among the two important factors that

  19. A combinatorial study of pose effects in unfamiliar face recognition.

    Science.gov (United States)

    Van der Linde, Ian; Watson, Tamara

    2010-03-05

    The face inversion effect, evidence that humans possess a specialized system for face processing, and the (3/4) view advantage, evidence that a canonical viewpoint exists from which faces may be optimally recognized, are two commonly cited findings in the face processing literature. In this paper, the interaction of these effects is examined in a sequential matching paradigm in which unfamiliar faces are combinatorially randomized in pose across two dimensions (roll and yaw). Using large numbers of poses, trials and face stimuli, two experiments were conducted in which pose was either jointly or independently randomized between intervals. Results include that performance was modulated in a continuous fashion as each dimension was manipulated, that an offset-specific (3/4) advantage exists, that both specific study and test pose affect recognition, and that, for like offset, yaw rotation is more deleterious to performance than roll rotation. Response bias effects included that matched or reflective yaw led observers to employ a more liberal criterion.

  20. Pose Reconstruction of Flexible Instruments from Endoscopic Images using Markers

    NARCIS (Netherlands)

    Reilink, Rob; Stramigioli, Stefano; Misra, Sarthak

    2012-01-01

    A system is developed that can reconstruct the pose of flexible endoscopic instruments that are used in ad- vanced flexible endoscopes using solely the endoscopic images. Four markers are placed on the instrument, whose positions are measured in the image. These measurements are compared to a

  1. Lessons about Climate Change Pose Many Challenges for Science Teachers

    Science.gov (United States)

    Cavanagh, Sean

    2007-01-01

    This article reports on lessons about climate change which pose many challenges for science teachers. The natural world today offers a broad--and dire--catalog of scientific phenomena for teachers wanting to craft classroom lessons on the topic of climate change. As public concern about global warming increases, teachers are carving out a larger…

  2. Health and Environmental Hazards Posed by Urban Livestock ...

    African Journals Online (AJOL)

    Livestock's contribution to climate change is now an established fact and closeness of livestock to human beings in urban areas portends many health and environmental implications. The study ascertained farmer's perception of health and environmental hazards posed by livestock keeping in Enugu Urban, Nigeria and its ...

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

    Science.gov (United States)

    Mahendra, R.; Slamet, I.; Budiyono

    2017-09-01

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

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

    Science.gov (United States)

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

    2017-01-01

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

  5. Problem Posing Based on Investigation Activities by University Students

    Science.gov (United States)

    da Ponte, Joao Pedro; Henriques, Ana

    2013-01-01

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

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

    Science.gov (United States)

    Lee, Andrew; Casasent, David

    1990-01-01

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

  7. 3D Facial Landmarking under Expression, Pose, and Occlusion Variations

    NARCIS (Netherlands)

    H. Dibeklioğ lu; A.A. Salah (Albert Ali); L. Akarun

    2008-01-01

    htmlabstractAutomatic localization of 3D facial features is important for face recognition, tracking, modeling and expression analysis. Methods developed for 2D images were shown to have problems working across databases acquired with different illumination conditions. Expression variations, pose

  8. Head counts.

    Science.gov (United States)

    Wattenberg, B

    1994-08-24

    A fellow at the American Enterprise Institute remarked that population growth slowed from 1.73% to 1.57% during 1990 to 1994. In Eastern Europe alone population declined by 1 million in the past 4 years. Fertility decline is evident even in Africa and a rapid fertility transition has appeared in Iran. The data are based on figures recently generated by the UN and published in "World Population Prospects: 1994 revision." The projected medium fertility variant was 9.8 billion by 2050 and 10 billion in 2054. UN statisticians have reported that the real numbers are likely to be even higher despite their own reports of fertility decline. The UN believes that sustaining 2.1 children per woman at replacement level will not be allowed by countries. The more developed countries are now at or below replacement: Japan at 1.5, Korea at 1.7, Germany at 1.3, and Italians at 1.3. Large population numbers threaten stability and are related to famine, pollution, war, and animal and plant species decimation. The evidence from Rwanda and Bosnia is clear. A more desirable and realistic estimate should be 7-8 billion by 2050. World population in preparation for the International Conference on Population and Development is being publicized as a problem so that the UN and environmentalists can increase their funding and attain a high spot on the global agenda. The author's experience as part of the US delegation to the International Population Conference in Mexico City in 1984 led to the conclusion that these international policy conferences are really public relations events. Gloom and doom predictions are constantly being modified; for instance, what was the "coming ice age" is now "global warming." The world has survived thus far, while the numbers have been increasing. If the world does not prosper in the years ahead, it is unlikely to be due to too many people.

  9. influence of head flexion after endotracheal intuba- tion on ...

    African Journals Online (AJOL)

    David Ofori-Adjei

    2008-09-01

    Sep 1, 2008 ... At the second phase, head flexion caused parasympathetic stimulation and ap- posed sympathetic response following direct laryngo- scopy. In a recent trial by Kihara et al18, both systolic and dia- stolic pressure increased after intubation for 2 minutes with highest values in the hypertensive group .19 In our.

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

    Science.gov (United States)

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

    2017-01-01

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

  11. A New Full Pose Measurement Method for Robot Calibration

    Directory of Open Access Journals (Sweden)

    Hee-Jun Kang

    2013-07-01

    Full Text Available Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method is based on an analysis of the features of a set of target points (placed on a rotating end-effector on a circular trajectory. The accurate measurement is validated by computational simulation results from the Puma robot. Moreover, experimental calibration and validation results for the Hyundai HA-06 robot prove the effectiveness, correctness, and reliability of the proposed method. This method can be applied to robots that have entirely revolute joints or to robots for which only the last joint is revolute.

  12. Quantifying the risk to life posed by hyperconcetrated flows

    OpenAIRE

    De Chiara, Giovanna

    2014-01-01

    2012-2013 In recent years, the disasters caused by landslides tragically increased due to the demographic growth and the indiscriminate use of land. Among the different types of landslides, flow-like phenomena - often simultaneously affecting large areas - are associated with the most catastrophic consequences in terms of loss of human life and economic damage. Understanding, forecasting and controlling the risk posed by flow-like phenomena are now recognised to be a priority for the sa...

  13. Iterative regularization methods for nonlinear ill-posed problems

    CERN Document Server

    Scherzer, Otmar; Kaltenbacher, Barbara

    2008-01-01

    Nonlinear inverse problems appear in many applications, and typically they lead to mathematical models that are ill-posed, i.e., they are unstable under data perturbations. Those problems require a regularization, i.e., a special numerical treatment. This book presents regularization schemes which are based on iteration methods, e.g., nonlinear Landweber iteration, level set methods, multilevel methods and Newton type methods.

  14. Sensing Strategies for Disambiguating among Multiple Objects in Known Poses.

    Science.gov (United States)

    1985-08-01

    ELEMENT. PROIECT. TASK Artificial Inteligence Laboratory AE OKUI UBR 545 Technology Square Cambridge, MA 021.39 11. CONTROLLING OFFICE NAME AND ADDRESS 12...AD-Ali65 912 SENSING STRATEGIES FOR DISAMBIGURTING MONG MULTIPLE 1/1 OBJECTS IN KNOWN POSES(U) MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL ...or Dist Special 1 ’ MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. Memo 855 August, 1985 Sensing Strategies for

  15. Teaching Human Poses Interactively to a Social Robot

    Science.gov (United States)

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

    2013-01-01

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

  16. Teaching Human Poses Interactively to a Social Robot

    Directory of Open Access Journals (Sweden)

    Miguel A. Salichs

    2013-09-01

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

  17. Visual measurement system for roadheaders pose detection in mines

    Science.gov (United States)

    Du, Yuxin; Tong, Minming; Liu, Ting; Dong, Haibo

    2016-10-01

    To satisfy the demand for automatic roadway drivage in mines, a real-time body pose detection system is proposed for the mine-used boom-type roadheader. Utilizing cross lasers and laser targets as information sources, this system first establishes a mathematical model to describe the machine position in space and realizes the precise localization of reference points on targets via the improved Retinex adaptive image enhancement algorithm and maximum wavelet transform module algorithm. It then sets up the machine body position calculating model and makes use of the space matrix transformation method to obtain the yaw, pitch, roll angles, and horizontal and vertical deviations of the roadheader, finally fulfilling the automatic machine pose detection in real time. Based on the preceding theoretical analysis, an experimental platform is built up in laboratory conditions for the purpose of simulating pose changes of the machine inside the tunnel and automatically detecting its position. The experimental results show that the measurement accuracy of angles is within 0.16 deg and the detection precision of displacements is higher than 10 mm, which can satisfy requirements of automatic, precise, and real-time positioning for the roadheader during the process of tunnel construction.

  18. LEVELING STUDENTS’ CREATIVE THINKING IN SOLVING AND POSING MATHEMATICAL PROBLEM

    Directory of Open Access Journals (Sweden)

    Tatag Yuli Eko Siswono

    2010-07-01

    Full Text Available Many researchers assume that people are creative, but their degree ofcreativity is different. The notion of creative thinking level has beendiscussed .by experts. The perspective of mathematics creative thinkingrefers to a combination of logical and divergent thinking which is basedon intuition but has a conscious aim. The divergent thinking is focusedon flexibility, fluency, and novelty in mathematical problem solving andproblem posing. As students have various backgrounds and differentabilities, they possess different potential in thinking patterns,imagination, fantasy and performance; therefore, students have differentlevels of creative thinking. A research study was conducted in order todevelop a framework for students’ levels of creative thinking inmathematics. This research used a qualitative approach to describe thecharacteristics of the levels of creative thinking. Task-based interviewswere conducted to collect data with ten 8thgrade junior secondary schoolstudents. The results distinguished five levels of creative thinking,namely level 0 to level 4 with different characteristics in each level.These differences are based on fluency, flexibility, and novelty inmathematical problem solving and problem posing.Keywords: student’s creative thinking, problem posing, flexibility,fluency, novelty DOI: http://dx.doi.org/10.22342/jme.1.1.794.17-40

  19. Head injury - first aid

    Science.gov (United States)

    ... medlineplus.gov/ency/article/000028.htm Head injury - first aid To use the sharing features on this page, ... a concussion can range from mild to severe. First Aid Learning to recognize a serious head injury and ...

  20. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... the head is typically used to detect: bleeding, brain injury and skull fractures in patients with head injuries. ... hard time staying still, are claustrophobic or have chronic pain, you may find a CT exam to ...

  1. Head and face reconstruction

    Science.gov (United States)

    ... medlineplus.gov/ency/article/002980.htm Head and face reconstruction To use the sharing features on this page, please enable JavaScript. Head and face reconstruction is surgery to repair or reshape deformities ...

  2. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... the limitations of CT Scanning of the Head? What is CT Scanning of the Head? Computed tomography, ... than regular radiographs (x-rays). top of page What are some common uses of the procedure? CT ...

  3. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... for Brain Tumors Radiation Therapy for Head and Neck Cancer Others American Stroke Association National Stroke Association ... Computer Tomography (CT) Safety During Pregnancy Head and Neck Cancer X-ray, Interventional Radiology and Nuclear Medicine ...

  4. Newborn head molding

    Science.gov (United States)

    Newborn cranial deformation; Molding of the newborn's head; Neonatal care - head molding ... The bones of a newborn baby's skull are soft and flexible, with gaps between the plates of bone. The spaces between the bony plates of ...

  5. Emotional Interaction with a Robot Using Facial Expressions, Face Pose and Hand Gestures

    Directory of Open Access Journals (Sweden)

    Myung-Ho Ju

    2012-09-01

    Full Text Available Facial expression is one of the major cues for emotional communications between humans and robots. In this paper, we present emotional human robot interaction techniques using facial expressions combined with an exploration of other useful concepts, such as face pose and hand gesture. For the efficient recognition of facial expressions, it is important to understand the positions of facial feature points. To do this, our technique estimates the 3D positions of each feature point by constructing 3D face models fitted on the user. To construct the 3D face models, we first construct an Active Appearance Model (AAM for variations of the facial expression. Next, we estimate depth information at each feature point from frontal- and side-view images. By combining the estimated depth information with AAM, the 3D face model is fitted on the user according to the various 3D transformations of each feature point. Self-occlusions due to the 3D pose variation are also processed by the region weighting function on the normalized face at each frame. The recognized facial expressions - such as happiness, sadness, fear and anger - are used to change the colours of foreground and background objects in the robot displays, as well as other robot responses. The proposed method displays desirable results in viewing comics with the entertainment robots in our experiments.

  6. A Layered Approach for Robust Spatial Virtual Human Pose Reconstruction Using a Still Image

    Directory of Open Access Journals (Sweden)

    Chengyu Guo

    2016-02-01

    Full Text Available Pedestrian detection and human pose estimation are instructive for reconstructing a three-dimensional scenario and for robot navigation, particularly when large amounts of vision data are captured using various data-recording techniques. Using an unrestricted capture scheme, which produces occlusions or breezing, the information describing each part of a human body and the relationship between each part or even different pedestrians must be present in a still image. Using this framework, a multi-layered, spatial, virtual, human pose reconstruction framework is presented in this study to recover any deficient information in planar images. In this framework, a hierarchical parts-based deep model is used to detect body parts by using the available restricted information in a still image and is then combined with spatial Markov random fields to re-estimate the accurate joint positions in the deep network. Then, the planar estimation results are mapped onto a virtual three-dimensional space using multiple constraints to recover any deficient spatial information. The proposed approach can be viewed as a general pre-processing method to guide the generation of continuous, three-dimensional motion data. The experiment results of this study are used to describe the effectiveness and usability of the proposed approach.

  7. Head orientation prediction: delta quaternions versus quaternions.

    Science.gov (United States)

    Himberg, Henry; Motai, Yuichi

    2009-12-01

    Display lag in simulation environments with helmet-mounted displays causes a loss of immersion that degrades the value of virtual/augmented reality training simulators. Simulators use predictive tracking to compensate for display lag, preparing display updates based on the anticipated head motion. This paper proposes a new method for predicting head orientation using a delta quaternion (DQ)-based extended Kalman filter (EKF) and compares the performance to a quaternion EKF. The proposed framework operates on the change in quaternion between consecutive data frames (the DQ), which avoids the heavy computational burden of the quaternion motion equation. Head velocity is estimated from the DQ by an EKF and then used to predict future head orientation. We have tested the new framework with captured head motion data and compared it with the computationally expensive quaternion filter. Experimental results indicate that the proposed DQ method provides the accuracy of the quaternion method without the heavy computational burden.

  8. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... limitations of CT Scanning of the Head? What is CT Scanning of the Head? Computed tomography, more commonly known as a ... top of page What are some common uses of the procedure? CT scanning of the head is ...

  9. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... Computed tomography (CT) of the head uses special x-ray equipment to help assess head injuries, severe headaches, dizziness, and other symptoms of ... content. Related Articles and Media Radiation Dose in X-Ray and CT ... Perfusion of the Head CT Angiography (CTA) Stroke Brain Tumors Computer Tomography ( ...

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

    Science.gov (United States)

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

    2011-10-01

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

  11. A modified quasi-boundary value method for a class of abstract parabolic ill-posed problems

    Directory of Open Access Journals (Sweden)

    Denche M

    2006-01-01

    Full Text Available We study a final value problem for first-order abstract differential equation with positive self-adjoint unbounded operator coefficient. This problem is ill-posed. Perturbing the final condition, we obtain an approximate nonlocal problem depending on a small parameter. We show that the approximate problems are well posed and that their solutions converge if and only if the original problem has a classical solution. We also obtain estimates of the solutions of the approximate problems and a convergence result of these solutions. Finally, we give explicit convergence rates.

  12. A modified quasi-boundary value method for a class of abstract parabolic ill-posed problems

    Directory of Open Access Journals (Sweden)

    S. Djezzar

    2006-02-01

    Full Text Available We study a final value problem for first-order abstract differential equation with positive self-adjoint unbounded operator coefficient. This problem is ill-posed. Perturbing the final condition, we obtain an approximate nonlocal problem depending on a small parameter. We show that the approximate problems are well posed and that their solutions converge if and only if the original problem has a classical solution. We also obtain estimates of the solutions of the approximate problems and a convergence result of these solutions. Finally, we give explicit convergence rates.

  13. Magnetic Resonance Imaging (MRI) -- Head

    Science.gov (United States)

    ... News Physician Resources Professions Site Index A-Z Magnetic Resonance Imaging (MRI) - Head Magnetic resonance imaging (MRI) of the head ... limitations of MRI of the Head? What is MRI of the Head? Magnetic resonance imaging (MRI) is ...

  14. Local shape feature fusion for improved matching, pose estimation and 3D object recognition

    DEFF Research Database (Denmark)

    Buch, Anders Glent; Petersen, Henrik Gordon; Krüger, Norbert

    2016-01-01

    of the descriptor employed by the recognition system. In addition to this, we evaluate several aspects of the matching task, including the efficiency of the different features, and the potential in using dimension reduction. To arrive at better generalization properties, we introduce a method for fusing several......We provide new insights to the problem of shape feature description and matching, techniques that are often applied within 3D object recognition pipelines. We subject several state of the art features to systematic evaluations based on multiple datasets from different sources in a uniform manner...... feature matches with a limited processing overhead. Our fused feature matches provide a significant increase in matching accuracy, which is consistent over all tested datasets. Finally, we benchmark all features in a 3D object recognition setting, providing further evidence of the advantage of fused...

  15. Vision-based measuring system for rider's pose estimation during motorcycle riding

    Science.gov (United States)

    Cheli, F.; Mazzoleni, P.; Pezzola, M.; Ruspini, E.; Zappa, E.

    2013-07-01

    Inertial characteristics of the human body are comparable with the vehicle ones in motorbike riding: the study of a rider's dynamic is a crucial step in system modeling. An innovative vision based system able to measure the six degrees of freedom of the driver with respect to the vehicle is proposed here: the core of the proposed approach is an image acquisition and processing technique capable of reconstructing the position and orientation of a target fixed on the rider's back. The technique is firstly validated in laboratory tests comparing measured and imposed target motion laws and successively tested in a real case scenario during track tests with amateur and professional drivers. The presented results show the capability of the technique to correctly describe the driver's dynamic, his interaction with the vehicle as well as the possibility to use the new measuring technique in the comparison of different driving styles.

  16. Human Pose Estimation and Activity Recognition from Multi-View Videos

    DEFF Research Database (Denmark)

    Holte, Michael Boelstoft; Tran, Cuong; Trivedi, Mohan

    2012-01-01

    –computer interaction (HCI), assisted living, gesture-based interactive games, intelligent driver assistance systems, movies, 3D TV and animation, physical therapy, autonomous mental development, smart environments, sport motion analysis, video surveillance, and video annotation. Next, we review and categorize recent...

  17. Object manipulation by a humanoid robot via single camera pose estimation

    OpenAIRE

    Eskimez, Şefik Emre; Eskimez, Sefik Emre

    2013-01-01

    Humanoid robots are designed to be used in daily life as assistance robots for people. They are expected to fill the jobs that require physical labor. These robots are also considered in healthcare sector. The ultimate goal in humanoid robotics is to reach a point where robots can truly communicate with people, and to be a part of labor force. Usual daily environment of a common person contains objects with different geometric and texture features. Such objects should be easily recognized, lo...

  18. 3D pose estimation of large and complicated workpieces based on binocular stereo vision.

    Science.gov (United States)

    Luo, Zhifeng; Zhang, Ke; Wang, Zhigang; Zheng, Jian; Chen, Yixin

    2017-08-20

    A binocular stereo vision method is proposed for automatically locating the position and posture of workpieces, which is especially important when processing large, complicated structures, for example, the laser hardening and laser cladding of automotive die. First, a binocular stereo vision positioning system was designed and modeled, from which a method of background subtraction was proposed to extract the edge line of the foreground area. Furthermore, the intersection point of the workpiece contour line was taken as the characteristic point of the workpiece, and an algorithm that combines epipolar constraint with gray value similarity was proposed to quickly and accurately realize the feature points matching. Finally, experiments show that the workpiece can be positioned accurately, and that the precision of position recognition could be controlled within ±0.5  mm when the camera was 1 m away from the workpiece, meeting the requirement of robot processing.

  19. Penalized linear regression for discrete ill-posed problems: A hybrid least-squares and mean-squared error approach

    KAUST Repository

    Suliman, Mohamed Abdalla Elhag

    2016-12-19

    This paper proposes a new approach to find the regularization parameter for linear least-squares discrete ill-posed problems. In the proposed approach, an artificial perturbation matrix with a bounded norm is forced into the discrete ill-posed model matrix. This perturbation is introduced to enhance the singular-value (SV) structure of the matrix and hence to provide a better solution. The proposed approach is derived to select the regularization parameter in a way that minimizes the mean-squared error (MSE) of the estimator. Numerical results demonstrate that the proposed approach outperforms a set of benchmark methods in most cases when applied to different scenarios of discrete ill-posed problems. Jointly, the proposed approach enjoys the lowest run-time and offers the highest level of robustness amongst all the tested methods.

  20. Regularization theory for ill-posed problems selected topics

    CERN Document Server

    Lu, Shuai

    2013-01-01

    Thismonograph is a valuable contribution to thehighly topical and extremly productive field ofregularisationmethods for inverse and ill-posed problems. The author is an internationally outstanding and acceptedmathematicianin this field. In his book he offers a well-balanced mixtureof basic and innovative aspects.He demonstrates new,differentiatedviewpoints, and important examples for applications. The bookdemontrates thecurrent developments inthe field of regularization theory,such as multiparameter regularization and regularization in learning theory. The book is written for graduate and PhDs

  1. A non-expert-user interface for posing signing avatars.

    Science.gov (United States)

    Adamo-Villani, Nicoletta; Popescu, Voicu; Lestina, Jason

    2013-05-01

    We describe a graphical user interface designed to allow non-expert users to pose 3D characters to create American Sign Language (ASL) computer animation. The interface is an important component of a software system that allows educators of the Deaf to add sign language translation, in the form of 3D character animations, to digital learning materials, thus making them accessible to deaf learners. A study indicates that users with no computer animation expertize can create animated ASL signs quickly and accurately.

  2. Mechanism of Gully-Head Retreat - A Study at Ganganir Danga ...

    African Journals Online (AJOL)

    Height and slope of gully heads, width at top and base of the gully head were monitored. Geotechnical properties of soil like cohesion and angle of internal frication, bulk density were measured to estimate shear stress and shear strength at gully head. Linear retreat of the gully heads was monitored by pegging technique.

  3. Covariance analysis for evaluating head trackers

    Science.gov (United States)

    Kang, Donghoon

    2017-10-01

    Existing methods for evaluating the performance of head trackers usually rely on publicly available face databases, which contain facial images and the ground truths of their corresponding head orientations. However, most of the existing publicly available face databases are constructed by assuming that a frontal head orientation can be determined by compelling the person under examination to look straight ahead at the camera on the first video frame. Since nobody can accurately direct one's head toward the camera, this assumption may be unrealistic. Rather than obtaining estimation errors, we present a method for computing the covariance of estimation error rotations to evaluate the reliability of head trackers. As an uncertainty measure of estimators, the Schatten 2-norm of a square root of error covariance (or the algebraic average of relative error angles) can be used. The merit of the proposed method is that it does not disturb the person under examination by asking him to direct his head toward certain directions. Experimental results using real data validate the usefulness of our method.

  4. Handheld pose tracking using vision-inertial sensors with occlusion handling

    Science.gov (United States)

    Li, Juan; Slembrouck, Maarten; Deboeverie, Francis; Bernardos, Ana M.; Besada, Juan A.; Veelaert, Peter; Aghajan, Hamid; Casar, José R.; Philips, Wilfried

    2016-07-01

    Tracking of a handheld device's three-dimensional (3-D) position and orientation is fundamental to various application domains, including augmented reality (AR), virtual reality, and interaction in smart spaces. Existing systems still offer limited performance in terms of accuracy, robustness, computational cost, and ease of deployment. We present a low-cost, accurate, and robust system for handheld pose tracking using fused vision and inertial data. The integration of measurements from embedded accelerometers reduces the number of unknown parameters in the six-degree-of-freedom pose calculation. The proposed system requires two light-emitting diode (LED) markers to be attached to the device, which are tracked by external cameras through a robust algorithm against illumination changes. Three data fusion methods have been proposed, including the triangulation-based stereo-vision system, constraint-based stereo-vision system with occlusion handling, and triangulation-based multivision system. Real-time demonstrations of the proposed system applied to AR and 3-D gaming are also included. The accuracy assessment of the proposed system is carried out by comparing with the data generated by the state-of-the-art commercial motion tracking system OptiTrack. Experimental results show that the proposed system has achieved high accuracy of few centimeters in position estimation and few degrees in orientation estimation.

  5. Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion

    Directory of Open Access Journals (Sweden)

    Takehiko Ogawa

    2010-01-01

    Full Text Available In the context of controlling a robot arm with multiple joints, the method of estimating the joint angles from the given end-effector coordinates is called inverse kinematics, which is a type of inverse problems. Network inversion has been proposed as a method for solving inverse problems by using a multilayer neural network. In this paper, network inversion is introduced as a method to solve the inverse kinematics problem of a robot arm with multiple joints, where the joint angles are estimated from the given end-effector coordinates. In general, inverse problems are affected by ill-posedness, which implies that the existence, uniqueness, and stability of their solutions are not guaranteed. In this paper, we show the effectiveness of applying network inversion with regularization, by which ill-posedness can be reduced, to the ill-posed inverse kinematics of an actual robot arm with multiple joints.

  6. Car Accident Reconstruction and Head Injury Correlation

    Science.gov (United States)

    Chawla, A.; Grover, V.; Mukherjee, S.; Hassan, A. M.

    2013-04-01

    Estimation of brain damage remains an elusive issue and controlled tests leading to brain damage cannot be carried out on volunteers. This study reconstructs real-world car accidents to estimate the kinematics of the head impact. This data is to be used to estimate the head injury measures through computer simulations and then correlate reported skull as well as brain damage to impact measures; whence validating the head FE model (Willinger, IJCrash 8:605-617, 2003). In this study, two crash cases were reconstructed. Injury correlation was successful in one of these cases in that the injuries to the brain of one of the car drivers could be correlated in terms of type, location and severity when compared with the tolerance limits of relevant injury parameters (Willinger, IJCrash 8:605-617, 2003).

  7. Head Injuries in Soccer.

    Science.gov (United States)

    Myrick, Karen M

    2016-07-01

    Soccer is currently the most popular and fastest growing sport worldwide, with approximately 265 million registered soccer players existing around the world. The popularity of the sport, coupled with the high incidence of 18.8-21.5 head injuries per 1,000 player hours reported, make it essential that clinicians, coaches, and the athletes, have a solid understanding of head injuries. The successful rehabilitation of athletes with head injuries relies upon early and accurate identification strategies and implementation of appropriate return to play measures across all areas in the continuum of care. Soccer is a frequently played sport, and head injuries are common. Therefore, it is imperative that clinicians, coaches, and the athletes themselves have a solid understanding of head injury prevention, diagnosis, and treatment options. The purpose of this article was to provide rehabilitation nurses with current information regarding frequently occurring head injuries in the widespread sport of soccer. © 2015 Association of Rehabilitation Nurses.

  8. ONKALO POSE experiment. Phase 1 and 2: execution and monitoring

    Energy Technology Data Exchange (ETDEWEB)

    Johansson, E. [Saanio and Riekkola Oy, Helsinki (Finland); Siren, T. [Posiva Oy, Helsinki (Finland); Hakala, M. [KMS-Hakala Oy, Nokia (Finland); Kantia, P. [Geofcon Oy, Rovaniemi (Finland)

    2014-02-15

    Posiva has conducted in the ONKALO rock characterisation facility during 2010 - 2011 an in situ experiment named POSE (Posiva's Olkiluoto Spalling Experiment). The POSE experiment had three objectives: to establish the in situ spalling/damage strength of Olkiluoto migmatitic gneiss, to establish the state of in situ stress at the -345 m depth level, and to act as a Prediction-Outcome (P-O) exercise. The POSE experiment consisted of drilling with full-face boring machine two near fullscale deposition holes, diameter 1.52 m (compared to 1.75 m for the actual deposition holes), to a depth of 7.2 m, leaving a 0.9 m pillar between the holes. The holes were planned to be located in such way that maximum excavation-induced stresses could act in the pillar and damage could then take place. Boring of the two holes in 2010 was called Phase 1 (Pillar test). This was followed in 2011 by Phase 2 (Pillar heating test) where four heaters with a length of 7.5 m heated the test area to increase the stresses around the experimental holes. In the heating phase the other hole was back-filled with sand. The test was extensively monitored during the execution using temperature monitoring, strain gauge monitoring, video monitoring, microseismic monitoring and pressure monitoring. In addition, the holes were after the test measured using ground penetration radar (GPR) and 3D photogrammetry for detailed modelling. The outcomes from the test showed that no damage, except for three opened/sheared fractures, was noticed during the boring of the holes (Phase 1). Surface damage was, though, induced by heating (Phase 2). The damage was well localized around the holes and controlled by the foliation (mica rich layers) and rock type contacts which were known to be relatively weak. Surface type failures were not observed in the gneiss, but it was noticed in limited areas in the pegmatite-granite. The depths of the damaged areas due to heating were less than 100 mm. The depths and sizes of the

  9. Head and Neck

    DEFF Research Database (Denmark)

    Højgaard, Liselotte; Berthelsen, Anne Kiil; Loft, Annika

    2014-01-01

    Positron emission tomography (PET)/computed tomography with FDG of the head and neck region is mainly used for the diagnosis of head and neck cancer, for staging, treatment evaluation, relapse, and planning of surgery and radio therapy. This article is a practical guide of imaging techniques......, including a detailed protocol for FDG PET in head and neck imaging, physiologic findings, and pitfalls in selected case stories....

  10. EFEKTIVITAS PEMBELAJARAN MATEMATIKA DENGAN METODE PROBLEM POSING BERBASIS PENDIDIKAN KARAKTER

    Directory of Open Access Journals (Sweden)

    Eka Lia Susanti

    2012-06-01

    Full Text Available Abstract Tujuan penelitian ini adalah untuk mengetahui apakah pembelajaran matematika dengan metode Problem Posing berbasis pendidikan karakter di laboratorium TeenZania pada materi garis singgung lingkaran efektif. Populasi dalam penelitian ini adalah peserta didik di SMP N 2 Pati. Sampel dalam penelitian ini diambil dengan teknik cluster random sampling. Variabel dalam penelitian ini yaitu keaktifan sebagai variabel independen dan prestasi belajar sebagai variabel dependen. Cara pengambilan data dengan lembar pengamatan dan tes. Data diolah dengan uji banding t dan uji pengaruh regresi. Hasil penelitian menunjukkan bahwa prestasi belajar kelas eksperimen (82,74 secara statistik melebihi KKM (75. Dengan uji regresi linear sederhana diperoleh persamaan regresi ?=-15,847 + 1,194X dan R^2=0,829. Koefisien X merupakan bilangan positif sehingga keaktifan berpengaruh positif pada prestasi belajar sebesar 82,9%. Rata-rata prestasi belajar kelas eksperimen (82,74 dan rata-rata prestasi belajar kelas kontrol (72,91. Secara uji stastistik prestasi belajar kelas eksperimen lebih baik daripada prestasi belajar kelas kontrol. Berdasarkan hasil analisis disimpulkan (1 pembelajaran mencapai tuntas belajar; (2 adanya pengaruh positif pada keaktifan terhadap prestasi belajar; dan (3 prestasi belajar kelas eksperimen lebih baik daripada prestasi belajar kelas kontrol; sehingga pembelajaran matematika dengan metode problem posing berbasis pendidikan karakter di laboratorium TeenZania merupakan pembelajaran yang efektif. The purpose of this study was to determine whether the learning of mathematics by Problem Posing method in a TeenZania laboratory based character education in circle tangent material effectively. The population in this study were students in SMP N 2 Pati. The sample in this study were drawn by cluster random sampling technique. The variables in this study is the activity as an independent variable and learning achievement as the dependent variable

  11. Challenges Posed by Novel Psychoactive Substances – Middle East Perspective

    Directory of Open Access Journals (Sweden)

    Maciej J. Bogusz

    2017-04-01

    Full Text Available New psychoactive substances (NPS are defined as substances of abuse, either in a pure form or a preparation, that are not controlled by the 1961 Single Convention on Narcotic Drugs or the 1971 Convention on Psychotropic Substances, but which may pose a public health threat. In this context, the term “new” does not necessarily refer to new inventions but to substances that have recently become available or popular in a given society or country. This definition indicates that the problem of NPS is not new; however, the availability of any information via new communication technologies in the 21st century has enabled the spread of unwanted and socially harmful information, like information on the commercial availability of various NPS, offered in rising amounts and brands.

  12. Level of environmental threat posed by horticultural trade in Cactaceae.

    Science.gov (United States)

    Novoa, Ana; Le Roux, Johannes J; Richardson, David M; Wilson, John R U

    2017-10-01

    Ornamental horticulture has been identified as an important threat to plant biodiversity and is a major pathway for plant invasions worldwide. In this context, the family Cactaceae is particularly challenging because it is considered the fifth most threatened large taxonomic group in the world; several species are among the most widespread and damaging invasive species; and Cactaceae is one of the most popular horticultural plant groups. Based on the Convention on International Trade in Endangered Species of Wild Flora and Fauna and the 11 largest online auction sites selling cacti, we documented the international cactus trade. To provide an in-depth look at the dynamics of the industry, we surveyed the businesses involved in the cactus trade in South Africa (a hotspot of cactus trade and invasions). We purchased seeds of every available species and used DNA barcoding to identify species to the genus level. Although <20% of this trade involved threatened species and <3% involved known invasive species, many species were identified by a common name. However, only 0.02% of the globally traded cacti were collected from wild populations. Despite a large commercial network, all South African imports (of which 15% and 1.5% were of species listed as threatened and invasive, respectively) came from the same source. With DNA barcoding, we identified 24% of the species to genus level. Based on our results, we believe that if trade restrictions are placed on the small proportion of cacti that are invasive and there is no major increase in harvesting of native populations, then the commercial trade in cactus poses a negligible environmental threat. However, there are currently no effective methods for easily identifying which cacti are traded, and both the illicit harvesting of cacti from the wild and the informal trade in invasive taxa pose on-going conservation challenges. © 2017 Society for Conservation Biology.

  13. Towards Plug-n-Play robot guidance: Advanced 3D estimation and pose estimation in Robotic applications

    DEFF Research Database (Denmark)

    Sølund, Thomas

    -programming the robot by themselves. During the last five years a number of collaborative robots are introduced on the marked e.g. Universal Robot, which enables a production worker to program the robot to solve simple tasks. With the collaborative robot the production worker is able to make the robot grind, mill, weld...... while the robot motion programming is easily handled with the new collaborative robots. This thesis deals with robot vision technologies and how these are made easier for production workers program in order to get robots to recognize and compute the position of objects in the industry. This thesis...... and discusses how 3D computer vision techniques can ease the problem of recognizing and computing the position of objects. In [Contribution D] a small lightweight 3D sensor is presented. The 3D sensor has a size that makes it suitable for tool mounting at a collaborative robot. It is based on structured light...

  14. Towards Plug-n-Play robot guidance: Advanced 3D estimation and pose estimation in Robotic applications

    OpenAIRE

    Sølund, Thomas; Aanæs, Henrik

    2017-01-01

    Robots are a key technology in the quest for higher productivity in Denmark and Europe. Robots have existed in many years as a part of production lines where they have solved monotonous and repetitive task in mass production industries. Typical the programming of these robots are handled by engineers with special knowledge who have often raised the price for using robots to a given production task. If robots have to be applicable for small and medium sized enterprises where production task of...

  15. Modeling transient streaming potentials in falling-head permeameter tests.

    Science.gov (United States)

    Malama, Bwalya; Revil, André

    2014-01-01

    We present transient streaming potential data collected during falling-head permeameter tests performed on samples of two sands with different physical and chemical properties. The objective of the work is to estimate hydraulic conductivity (K) and the electrokinetic coupling coefficient (Cl ) of the sand samples. A semi-empirical model based on the falling-head permeameter flow model and electrokinetic coupling is used to analyze the streaming potential data and to estimate K and Cl . The values of K estimated from head data are used to validate the streaming potential method. Estimates of K from streaming potential data closely match those obtained from the associated head data, with less than 10% deviation. The electrokinetic coupling coefficient was estimated from streaming potential vs. (1) time and (2) head data for both sands. The results indicate that, within limits of experimental error, the values of Cl estimated by the two methods are essentially the same. The results of this work demonstrate that a temporal record of the streaming potential response in falling-head permeameter tests can be used to estimate both K and Cl . They further indicate the potential for using transient streaming potential data as a proxy for hydraulic head in hydrogeology applications. © 2013, National Ground Water Association.

  16. Estimating the gaze of a virtuality human.

    Science.gov (United States)

    Roberts, David J; Rae, John; Duckworth, Tobias W; Moore, Carl M; Aspin, Rob

    2013-04-01

    The aim of our experiment is to determine if eye-gaze can be estimated from a virtuality human: to within the accuracies that underpin social interaction; and reliably across gaze poses and camera arrangements likely in every day settings. The scene is set by explaining why Immersive Virtuality Telepresence has the potential to meet the grand challenge of faithfully communicating both the appearance and the focus of attention of a remote human participant within a shared 3D computer-supported context. Within the experiment n=22 participants rotated static 3D virtuality humans, reconstructed from surround images, until they felt most looked at. The dependent variable was absolute angular error, which was compared to that underpinning social gaze behaviour in the natural world. Independent variables were 1) relative orientations of eye, head and body of captured subject; and 2) subset of cameras used to texture the form. Analysis looked for statistical and practical significance and qualitative corroborating evidence. The analysed results tell us much about the importance and detail of the relationship between gaze pose, method of video based reconstruction, and camera arrangement. They tell us that virtuality can reproduce gaze to an accuracy useful in social interaction, but with the adopted method of Video Based Reconstruction, this is highly dependent on combination of gaze pose and camera arrangement. This suggests changes in the VBR approach in order to allow more flexible camera arrangements. The work is of interest to those wanting to support expressive meetings that are both socially and spatially situated, and particular those using or building Immersive Virtuality Telepresence to accomplish this. It is also of relevance to the use of virtuality humans in applications ranging from the study of human interactions to gaming and the crossing of the stage line in films and TV.

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

    Science.gov (United States)

    Adler, Jonas; Öktem, Ozan

    2017-12-01

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

  18. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... Computed tomography (CT) of the head uses special x-ray equipment to help assess head injuries, severe headaches, ... is a diagnostic medical test that, like traditional x-rays, produces multiple images or pictures of the inside ...

  19. Head Injuries in Children

    Science.gov (United States)

    Pennington, Nicole

    2010-01-01

    School nurses play a crucial role in injury prevention and initial treatment when injuries occur at school. The role of school nurses includes being knowledgeable about the management of head injuries, including assessment and initial treatment. The school nurse must be familiar with the outcomes of a head injury and know when further evaluation…

  20. Abnormal Head Position

    Science.gov (United States)

    ... non-ocular causes of an abnormal head position? Congenital shortening of the neck muscles (sternocleidomastoid) can cause a head tilt. This is ... amblyopia) are other treatment alternatives. Physical therapy helps congenital torticollis from tight neck muscles. Updated ... Terms & Conditions Most Common ...

  1. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... the limitations of CT Scanning of the Head? What is CT Scanning of the Head? Computed tomography, more commonly known as a CT or CAT scan, is a diagnostic medical test that, like traditional x-rays, produces multiple images or pictures of the inside of ...

  2. Head Start in Action.

    Science.gov (United States)

    Riley, Clara M. D.; Epps, Frances M. J.

    Records and observations from a summer Head Start program, conducted in Los Angeles by Delta Sigma Theta, are delineated in this book. It relates firsthand experiences of the participating personnel as they developed and implemented a Head Start program for some 300 children. The book is divided into three sections. Section I,…

  3. Squeezeposenet: Image Based Pose Regression with Small Convolutional Neural Networks for Real Time Uas Navigation

    Science.gov (United States)

    Müller, M. S.; Urban, S.; Jutzi, B.

    2017-08-01

    The number of unmanned aerial vehicles (UAVs) is increasing since low-cost airborne systems are available for a wide range of users. The outdoor navigation of such vehicles is mostly based on global navigation satellite system (GNSS) methods to gain the vehicles trajectory. The drawback of satellite-based navigation are failures caused by occlusions and multi-path interferences. Beside this, local image-based solutions like Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) can e.g. be used to support the GNSS solution by closing trajectory gaps but are computationally expensive. However, if the trajectory estimation is interrupted or not available a re-localization is mandatory. In this paper we will provide a novel method for a GNSS-free and fast image-based pose regression in a known area by utilizing a small convolutional neural network (CNN). With on-board processing in mind, we employ a lightweight CNN called SqueezeNet and use transfer learning to adapt the network to pose regression. Our experiments show promising results for GNSS-free and fast localization.

  4. Chemotherapy in Children with Head and Neck Cancers: Perspectives and Review of Current Therapies.

    Science.gov (United States)

    Choi, Daniel K; Schmidt, Mary Lou

    2016-02-01

    Cancers of the head and neck in children represent a heterogeneous group of malignancies requiring a variety of treatment modalities. In many instances of childhood head and neck cancers, chemotherapy will be required for treatment, often in conjunction with surgery and/or radiation therapy. Chemotherapy in children with head and neck cancers poses unique challenges in terms of immediate as well as long-term toxicities. This article focuses on the common chemotherapeutic agents, with a particular focus on early and late effects, used in the treatment of children with head and neck cancers. Copyright © 2016 Elsevier Inc. All rights reserved.

  5. Child-Headed Households: A Feasible Way Forward, or an Infringement of Children's Right to Alternative Care?

    Science.gov (United States)

    Phillips, Charlotte

    2011-01-01

    In the face of growing international support for recognition of child-headed households, the author poses the following questions: What does the internationally recognised right to alternative care for children entail? Is the recognition of child-headed households as a form of alternative care in line with the Convention on the Rights of the Child…

  6. EVALUATION OF POTENTIAL RISK POSED BY MEDICATIONS TO THE FETUS

    Directory of Open Access Journals (Sweden)

    S.A. Sher

    2010-01-01

    Full Text Available The article focuses on the issue of evaluating potential risk posed by medications to the fetus during pregnancy. For this purpose various countries use classifications of medications broken down into risk categories during pregnancy. The most popular classification is US FDA classification, which identifies five categories of medications (А, В, С, D and Х depending on the degree of their embryotoxic and teratogenic side effect, which enables physicians to make informed choices in selecting pharmacotherapy during the entire gestational period. The article discusses possible specific fetal and neonatal disorders when administering medications in categories X and D. Medications in category D may be prescribed to pregnant women only in extreme situations. Administering medications in category X is absolutely inadvisable before and during pregnancy. Further research in this area makes it possible to improve the classification of medications by degree of their embryotoxic and teratogenic risk and address the issue of selecting safe medications during pregnancy. Key words: medications, gestational period, embryo, fetus, embryotoxic and teratogenic action, fetal and neonatal disorders. (Pediatric Pharmacology. – 2010; 7(3:78-81

  7. Real-time pose invariant logo and pattern detection

    Science.gov (United States)

    Sidla, Oliver; Kottmann, Michal; Benesova, Wanda

    2011-01-01

    The detection of pose invariant planar patterns has many practical applications in computer vision and surveillance systems. The recognition of company logos is used in market studies to examine the visibility and frequency of logos in advertisement. Danger signs on vehicles could be detected to trigger warning systems in tunnels, or brand detection on transport vehicles can be used to count company-specific traffic. We present the results of a study on planar pattern detection which is based on keypoint detection and matching of distortion invariant 2d feature descriptors. Specifically we look at the keypoint detectors of type: i) Lowe's DoG approximation from the SURF algorithm, ii) the Harris Corner Detector, iii) the FAST Corner Detector and iv) Lepetit's keypoint detector. Our study then compares the feature descriptors SURF and compact signatures based on Random Ferns: we use 3 sets of sample images to detect and match 3 logos of different structure to find out which combinations of keypoint detector/feature descriptors work well. A real-world test tries to detect vehicles with a distinctive logo in an outdoor environment under realistic lighting and weather conditions: a camera was mounted on a suitable location for observing the entrance to a parking area so that incoming vehicles could be monitored. In this 2 hour long recording we can successfully detect a specific company logo without false positives.

  8. Mendalami Dasar-Dasar dalam Pengambilan Pose pada Pemotretan Model

    Directory of Open Access Journals (Sweden)

    Agnes Paulina Gunawan

    2013-04-01

    Full Text Available There are many activities and numerous objects in this universe, which make them interesting for photographers to explore as their masterpiece. One of the things that has been enjoyed and is always developing over time is the use of human as an object, whether as a candid photography or as a posing model in accordance to photographer's concept and theme. Using human being as an object is always popular among beginners and professional photographers. Even nowadays people often hold photo shoot as a media in many social network sites. And so if they understand the simple theories in basic knowledge of using human object, the results will be maximized, and of course, much more interesting. The more a photographer does his job, the better his experience is, and his work will develop. Thus, it makes him more alert to the situation and character of a model, which will then become more observant in predicting their outcome in photography.   

  9. Pose invariant face recognition: 3D model from single photo

    Science.gov (United States)

    Napoléon, Thibault; Alfalou, Ayman

    2017-02-01

    Face recognition is widely studied in the literature for its possibilities in surveillance and security. In this paper, we report a novel algorithm for the identification task. This technique is based on an optimized 3D modeling allowing to reconstruct faces in different poses from a limited number of references (i.e. one image by class/person). Particularly, we propose to use an active shape model to detect a set of keypoints on the face necessary to deform our synthetic model with our optimized finite element method. Indeed, in order to improve our deformation, we propose a regularization by distances on graph. To perform the identification we use the VanderLugt correlator well know to effectively address this task. On the other hand we add a difference of Gaussian filtering step to highlight the edges and a description step based on the local binary patterns. The experiments are performed on the PHPID database enhanced with our 3D reconstructed faces of each person with an azimuth and an elevation ranging from -30° to +30°. The obtained results prove the robustness of our new method with 88.76% of good identification when the classic 2D approach (based on the VLC) obtains just 44.97%.

  10. Newton-Type Iteration for Tikhonov Regularization of Nonlinear Ill-Posed Problems

    Directory of Open Access Journals (Sweden)

    Santhosh George

    2013-01-01

    Full Text Available Recently in the work of George, 2010, we considered a modified Gauss-Newton method for approximate solution of a nonlinear ill-posed operator equation F(x=y, where F:D(F⊆X→Y is a nonlinear operator between the Hilbert spaces X and Y. The analysis in George, 2010 was carried out using a majorizing sequence. In this paper, we consider also the modified Gauss-Newton method, but the convergence analysis and the error estimate are obtained by analyzing the odd and even terms of the sequence separately. We use the adaptive method in the work of Pereverzev and Schock, 2005 for choosing the regularization parameter. The optimality of this method is proved under a general source condition. A numerical example of nonlinear integral equation shows the performance of this procedure.

  11. Baseline head in Olkiluoto

    Energy Technology Data Exchange (ETDEWEB)

    Ahokas, H.; Tammisto, E.; Lehtimaeki, T. (Poeyry Environment Oy, Vantaa (Finland))

    2008-11-15

    As part of the programme for the final disposal of the spent nuclear fuel, Posiva Oy investigates the prevailing hydrological conditions on Olkiluoto island. The hydrological investigations have included several kinds of hydrological tests such as measurements of hydraulic conductivity by flow logging and a double-packer tool as well as interference tests by pumping, in order to study the hydraulic connections between the drillholes. In addition, long-term monitoring of groundwater level and groundwater head as well as measurements of flow conditions in open drillholes, groundwater salinity (in situ EC), precipitation (including snow), sea-water level, surface flow (runoff) etc. have been part of the investigation programme aiming at the characterization of the bedrock. The data have been used in the compilation of deterministic hydro-zones and hydraulic properties for numerical flow modelling to study the flow pattern on Olkiluoto island. In addition, the compiled bedrock models have been used in the planning of the repository layout and in the analyses of the transport of radionuclides and the functionality of engineered barriers. This report focuses on the measurements of groundwater head by means of multi-packers and in connection with flow loggings. The determination of the undisturbed groundwater head (baseline head) in terms of the in situ fresh water head is the main goal of this report. The density of groundwater is strongly dependent on salinity and due to the saline groundwater deep in the bedrock in Olkiluoto the term fresh water head is used instead of hydraulic head. Taking the density of groundwater into account, the gradient of the residual pressure, which actually causes groundwater flow can be calculated. The measured and calculated heads are converted into corresponding in situ fresh water heads, which correspond to the water level (metres above sea level) in the hose that runs from the packed-off section to the ground surface. This means that

  12. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... the limitations of MRI of the Head? What is MRI of the Head? Magnetic resonance imaging (MRI) is a noninvasive ... top of page What are some common uses of the procedure? MR imaging of the head is ...

  13. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... MRI of the Head? What is MRI of the Head? Magnetic resonance imaging (MRI) is a noninvasive ... of page What are some common uses of the procedure? MR imaging of the head is performed ...

  14. Ulnar head replacement.

    Science.gov (United States)

    Herbert, Timothy J; van Schoonhoven, Joerg

    2007-03-01

    Recent years have seen an increasing awareness of the anatomical and biomechanical significance of the distal radioulnar joint (DRUJ). With this has come a more critical approach to surgical management of DRUJ disorders and a realization that all forms of "excision arthroplasty" can only restore forearm rotation at the expense of forearm stability. This, in turn, has led to renewed interest in prosthetic replacement of the ulnar head, a procedure that had previously fallen into disrepute because of material failures with early implants, in particular, the Swanson silicone ulnar head replacement. In response to these early failures, a new prosthesis was developed in the early 1990s, using materials designed to withstand the loads across the DRUJ associated with normal functional use of the upper limb. Released onto the market in 1995 (Herbert ulnar head prosthesis), clinical experience during the last 10 years has shown that this prosthesis is able to restore forearm function after ulnar head excision and that the materials (ceramic head and noncemented titanium stem), even with normal use of the limb, are showing no signs of failure in the medium to long term. As experience with the use of an ulnar head prosthesis grows, so does its acceptance as a viable and attractive alternative to more traditional operations, such as the Darrach and Sauve-Kapandji procedures. This article discusses the current indications and contraindications for ulnar head replacement and details the surgical procedure, rehabilitation, and likely outcomes.

  15. Effect of head model on Monte Carlo modeling of spatial sensitivity distribution for functional near-infrared spectroscopy

    Directory of Open Access Journals (Sweden)

    Ting Li

    2015-09-01

    Full Text Available Modeling Light propagation within human head to deduce spatial sensitivity distribution (SSD is important for Near-infrared spectroscopy (NIRS/imaging (NIRI and diffuse correlation tomography. Lots of head models have been used on this issue, including layered head model, artificial simplified head model, MRI slices described head model, and visible human head model. Hereinto, visible Chinese human (VCH head model is considered to be a most faithful presentation of anatomical structure, and has been highlighted to be employed in modeling light propagation. However, it is not practical for all researchers to use VCH head models and actually increasing number of people are using magnet resonance imaging (MRI head models. Here, all the above head models were simulated and compared, and we focused on the effect of using different head models on predictions of SSD. Our results were in line with the previous reports on the effect of cerebral cortex folding geometry. Moreover, the influence on SSD increases with the fidelity of head models. And surprisingly, the SSD percentages in scalp and gray matter (region of interest in MRI head model were found to be 80% and 125% higher than in VCH head model. MRI head models induced nonignorable discrepancy in SSD estimation when compared with VCH head model. This study, as we believe, is the first to focus on comparison among full serials of head model on estimating SSD, and provided quantitative evidence for MRI head model users to calibrate their SSD estimation.

  16. Pattern of head and neck cancers among patients attending ...

    African Journals Online (AJOL)

    Background: It is estimated that there are more than 640,000 new cases and 350,000 deaths due to head and neck cancers (HNCA) each year worldwide. Lack of baseline data in Tanzania concerning head and neck malignancies makes it difficult to appreciate the pattern and magnitude of the problem in the country.

  17. Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements

    Directory of Open Access Journals (Sweden)

    Renato Volpe

    2017-01-01

    Full Text Available Recent interest in on-orbit proximity operations has pushed towards the development of autonomous GNC strategies. In this sense, optical navigation enables a wide variety of possibilities as it can provide information not only about the kinematic state but also about the shape of the observed object. Various mission architectures have been either tested in space or studied on Earth. The present study deals with on-orbit relative pose and shape estimation with the use of a monocular camera and a distance sensor. The goal is to develop a filter which estimates an observed satellite’s relative position, velocity, attitude, and angular velocity, along with its shape, with the measurements obtained by a camera and a distance sensor mounted on board a chaser which is on a relative trajectory around the target. The filter’s efficiency is proved with a simulation on a virtual target object. The results of the simulation, even though relevant to a simplified scenario, show that the estimation process is successful and can be considered a promising strategy for a correct and safe docking maneuver.

  18. Crisis planning to manage risks posed by animal rights extremists.

    Science.gov (United States)

    Bailey, Matthew R; Rich, Barbara A; Bennett, B Taylor

    2010-01-01

    Among the multitude of crises that US research institutions may face are those caused by animal rights activists. While most activists opposed to animal research use peaceful and lawful means of expressing their opinions, some extremists resort to illegal methods. Arson, break-ins, and theft with significant property damage at US animal research facilities began in the 1980s. The most troubling trend to develop in the past decade is the targeting of individuals associated with animal research, whether directly or indirectly, and the use of violent scare tactics to intimidate researchers and their families. The National Association for Biomedical Research has a 30-year history of monitoring the animal rights movement and assisting member institutions with crisis situations. In this article we discuss attacks on researchers at their homes, cyber crimes, exploitation of new media formats, infiltration of research facilities, and the targeting of external research stakeholders and business partners. We describe the need for a well-conceived crisis management plan and strong leadership to mitigate crisis situations. Institutions with well-informed leaders and crisis management teams ready to take timely action are best equipped to protect staff, laboratory animals, and research programs. They act on early warnings, provide support for targeted staff, seek legal remedies, thoughtfully control access to research facilities, and identify and enlist new research supporters. We underscore the importance of up-to-date crisis planning so that institutions are not only aware of ongoing risks posed by animal rights extremists but also better prepared to take preemptive action and able to manage those risks successfully.

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

    Science.gov (United States)

    Arikan, Elif Esra; Ünal, Hasan

    2015-01-01

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

  20. Computed Tomography (CT) -- Head

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    Full Text Available ... you! Do you have a personal story about radiology? Share your patient story here Images × Image Gallery ... Pregnancy Head and Neck Cancer X-ray, Interventional Radiology and Nuclear Medicine Radiation Safety Images related to ...

  1. Computed Tomography (CT) -- Head

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    Full Text Available ... Tomography (CT) Safety During Pregnancy Head and Neck Cancer X-ray, Interventional Radiology and Nuclear ... or other physician. To locate a medical imaging or radiation oncology provider in your community, you can search the ...

  2. Overview of Head Injuries

    Science.gov (United States)

    ... brain. If the head injury is very severe, mechanical ventilation may be used. Doctors control blood pressure and minimize the amount of brain swelling by adjusting the amount of intravenous fluids given and sometimes by giving intravenous drugs that ...

  3. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... headaches, dizziness, and other symptoms of aneurysm, bleeding, stroke and brain tumors. It also helps your doctor ... scanning provides more detailed information on head injuries, stroke , brain tumors and other brain diseases than regular ...

  4. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... be necessary. Your doctor will explain the exact reason why another exam is requested. Sometimes a follow- ... limitations of CT Scanning of the Head? A person who is very large may not fit into ...

  5. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... medically necessary because of potential risk to the baby. This risk is, however, minimal with head CT ... intravenous contrast indicate mothers should not breastfeed their babies for 24-48 hours after contrast medium is ...

  6. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... assess head injuries, severe headaches, dizziness, and other symptoms of aneurysm, bleeding, stroke and brain tumors. It ... within the brain shortly after a patient exhibits symptoms of a stroke. a stroke, especially with a ...

  7. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... scans in children should always be done with low-dose technique. top of page What are the ... page Additional Information and Resources RTAnswers.org Radiation Therapy for Brain Tumors Radiation Therapy for Head and ...

  8. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... this tunnel. Rotating around you, the x-ray tube and electronic x-ray detectors are located opposite ... medically necessary because of potential risk to the baby. This risk is, however, minimal with head CT ...

  9. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... microphone. top of page How does the procedure work? In many ways CT scanning works very much ... head CT scanning. Manufacturers of intravenous contrast indicate mothers should not breastfeed their babies for 24-48 ...

  10. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... special x-ray equipment to help assess head injuries, severe headaches, dizziness, and other symptoms of aneurysm, ... cancer. In emergency cases, it can reveal internal injuries and bleeding quickly enough to help save lives. ...

  11. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... traditional x-rays, particularly of soft tissues and blood vessels. CT scanning provides more detailed information on head injuries, stroke , brain tumors and other brain diseases than regular radiographs (x-rays). top of page ...

  12. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... used to detect: bleeding, brain injury and skull fractures in patients with head injuries. bleeding caused by ... a few seconds, and even faster in small children. Such speed is beneficial for all patients but ...

  13. TCGA head Neck

    Science.gov (United States)

    Investigators with The Cancer Genome Atlas (TCGA) Research Network have discovered genomic differences – with potentially important clinical implications – in head and neck cancers caused by infection with the human papillomavirus (HPV).

  14. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... microphone. top of page How does the procedure work? In many ways CT scanning works very much ... for Head and Neck Cancer Others American Stroke Association National Stroke Association top of page This page ...

  15. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... images of internal organs, bones, soft tissue and blood vessels provide greater detail than traditional x-rays, particularly of soft tissues and blood vessels. CT scanning provides more detailed information on head ...

  16. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... sometimes compared to looking into a loaf of bread by cutting the loaf into thin slices. When ... for Brain Tumors Radiation Therapy for Head and Neck Cancer Others American Stroke Association National Stroke Association ...

  17. Early Head Start Evaluation

    Data.gov (United States)

    U.S. Department of Health & Human Services — Longitudinal information from an evaluation where children were randomly assigned to Early Head Start or community services as usual;direct assessments and...

  18. Head Start Impact Study

    Data.gov (United States)

    U.S. Department of Health & Human Services — Nationally representative, longitudinal information from an evaluation where children were randomly assigned to Head Start or community services as usual;direct...

  19. Head CT scan

    Science.gov (United States)

    ... be: Stored Viewed on a monitor Printed on film Three-dimensional models of the head area can ... when you have certain other signs or symptoms Hearing loss (in some people) Symptoms of damage to ...

  20. Computed Tomography (CT) -- Head

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    Full Text Available ... and other symptoms of aneurysm, bleeding, stroke and brain tumors. It also helps your doctor to evaluate your ... provides more detailed information on head injuries, stroke , brain tumors and other brain diseases than regular radiographs (x- ...

  1. Head and Neck Cancer

    Science.gov (United States)

    ... increase the risk of head and neck cancer. Environmental or occupational inhalants. Inhaling asbestos, wood dust, paint ... from the American Society of Clinical Oncology. Review dictionary articles to help understand medical phrases and terms ...

  2. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... used to detect: bleeding, brain injury and skull fractures in patients with head injuries. bleeding caused by ... are present in the paranasal sinuses. plan radiation therapy for cancer of the brain or other tissues. ...

  3. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... used to detect: bleeding, brain injury and skull fractures in patients with head injuries. bleeding caused by ... is also performed to: evaluate the extent of bone and soft tissue damage in patients with facial ...

  4. Robust facial landmark detection based on initializing multiple poses

    Directory of Open Access Journals (Sweden)

    Xin Chai

    2016-10-01

    Full Text Available For robot systems, robust facial landmark detection is the first and critical step for face-based human identification and facial expression recognition. In recent years, the cascaded-regression-based method has achieved excellent performance in facial landmark detection. Nevertheless, it still has certain weakness, such as high sensitivity to the initialization. To address this problem, regression based on multiple initializations is established in a unified model; face shapes are then estimated independently according to these initializations. With a ranking strategy, the best estimate is selected as the final output. Moreover, a face shape model based on restricted Boltzmann machines is built as a constraint to improve the robustness of ranking. Experiments on three challenging datasets demonstrate the effectiveness of the proposed facial landmark detection method against state-of-the-art methods.

  5. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... may cause some medical devices to malfunction. Most orthopedic implants pose no risk, but you should always ... metal objects. In general, metal objects used in orthopedic surgery pose no risk during MRI. However, a ...

  6. Temporally Scalable Visual SLAM using a Reduced Pose Graph

    Science.gov (United States)

    2012-05-25

    RatSLAM system used panoramic video and odometry as perceptual stimulus. While their work does not try to produce Cartesian maps, they have demonstrated...estimation. In typical operation the visual odometry algorithm is run on a single thread at 30Hz (the camera framerate ) while the remaining components are... Video Stream Floor Tracking IMU Odometry Tracking thread Mapping thread Fig. 3. Architecture for the proposed visual SLAM system. On the left are the

  7. Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties

    Science.gov (United States)

    Sun, Liang; Zheng, Zewei

    2017-04-01

    An adaptive relative pose control strategy is proposed for a pursue spacecraft in proximity operations on a tumbling target. Relative position vector between two spacecraft is required to direct towards the docking port of the target while the attitude of them must be synchronized. With considering the thrust misalignment of pursuer, an integrated controller for relative translational and relative rotational dynamics is developed by using norm-wise adaptive estimations. Parametric uncertainties, unknown coupled dynamics, and bounded external disturbances are compensated online by adaptive update laws. It is proved via Lyapunov stability theory that the tracking errors of relative pose converge to zero asymptotically. Numerical simulations including six degrees-of-freedom rigid body dynamics are performed to demonstrate the effectiveness of the proposed controller.

  8. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... News Physician Resources Professions Site Index A-Z Magnetic Resonance Imaging (MRI) - Head Magnetic resonance imaging (MRI) of the head ... limitations of MRI of the Head? What is MRI of the Head? Magnetic resonance imaging (MRI) is ...

  9. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... Physician Resources Professions Site Index A-Z Magnetic Resonance Imaging (MRI) - Head Magnetic resonance imaging (MRI) of the head uses a powerful ... Head? What is MRI of the Head? Magnetic resonance imaging (MRI) is a noninvasive medical test that ...

  10. Nutrition management for head and neck cancer patients improves clinical outcome and survival.

    Science.gov (United States)

    Müller-Richter, Urs; Betz, C; Hartmann, S; Brands, R C

    2017-12-01

    Up to 80% of patients with head and neck cancers are malnourished because of their lifestyle and the risk factors associated with this disease. Unfortunately, nutrition management systems are not implemented in most head and neck cancer clinics. Even worse, many head and neck surgeons as well as hospital management authorities disregard the importance of nutrition management in head and neck cancer patients. In addition, the often extensive resection and reconstruction required for tumors in the upper aerodigestive tract pose special challenges for swallowing and sufficient food intake, placing special demands on nutrition management. This article presents the basics of perioperative metabolism and nutrition management of head and neck cancer patients and makes recommendations for clinical practice. Implementing a nutrition management system in head and neck cancer clinics will improve the clinical outcome and the survival of the patients. Copyright © 2017 Elsevier Inc. All rights reserved.

  11. Task-Specific Scoring Functions for Predicting Ligand Binding Poses and Affinity and for Screening Enrichment.

    Science.gov (United States)

    Ashtawy, Hossam; Mahapatra, Nihar Ranjan

    2017-11-30

    Molecular docking, scoring, and virtual screening play an increasingly important role in computer-aided drug discovery. Scoring functions (SFs) are typically employed to predict the binding conformation (docking task), binding affinity (scoring task), and binary activity level (screening task) of ligands against a critical protein target in a disease's pathway. In most molecular docking software packages available today, a generic binding affinity-based (BA-based) SF is invoked for all three tasks to solve three different, but related, prediction problems. The limited predictive accuracies of such SFs in these three tasks has been a major roadblock toward cost-effective drug discovery. Therefore, in this work, we develop BT-Score, an ensemble machine-learning (ML) SF of boosted decision trees and thousands of predictive descriptors to estimate BA. BT-Score reproduced BA of out-of-sample test complexes with correlation of 0.825. Even with this high accuracy in the scoring task, we demonstrate that the docking and screening performance of BT-Score and other BA-based SFs is far from ideal. This has motivated us to build two task-specific ML SFs for the docking and screening problems. We propose BT-Dock, a boosted-tree ensemble model trained on a large number of native and computer-generated ligand conformations and optimized to predict binding poses explicitly. The model has shown an average improvement of 25% over its BA-based counterparts in different ligand pose prediction scenarios. Similar improvement has also been obtained by our screening-based SF, BT-Screen, which directly models the ligand activity labels as a classification problem. BT-Screen is trained on thousands of active and inactive protein-ligand complexes to optimize it for finding real actives from databases of ligands not seen in its training set. In addition to the three task-specific SFs, we propose a novel multi-task deep neural network (MT-Net) that is trained on data from the three tasks to

  12. Antibiotics as CECs: An Overview of the Hazards Posed by Antibiotics and Antibiotic Resistance

    Directory of Open Access Journals (Sweden)

    Geoffrey Ivan Scott

    2016-04-01

    Full Text Available ABSTRACTMonitoring programs have traditionally monitored legacy contaminants but are shifting focus to Contaminants of Emerging Concern (CECs. CECs present many challenges for monitoring and assessment, because measurement methods don't always exist nor have toxicological studies been fully conducted to place results in proper context. Also some CECs affect metabolic pathways to produce adverse outcomes that are not assessed through traditional toxicological evaluations. Antibiotics are CECs that pose significant environmental risks including development of both toxic effects at high doses and antibiotic resistance at doses well below the Minimum Inhibitory Concentration (MIC which kill bacteria and have been found in nearly half of all sites monitored in the US. Antimicrobial resistance has generally been attributed to the use of antibiotics in medicine for humans and livestock as well as aquaculture operations. The objective of this study was to assess the extent and magnitude of antibiotics in the environment and estimate their potential hazards in the environment. Antibiotics concentrations were measured in a number of monitoring studies which included Waste Water Treatment Plants (WWTP effluent, surface waters, sediments and biota. A number of studies reported levels of Antibiotic Resistant Microbes (ARM in surface waters and some studies found specific ARM genes (e.g. the blaM-1 gene in E. coli which may pose additional environmental risk. High levels of this gene were found to survive WWTP disinfection and accumulated in sediment at levels 100-1000 times higher than in the sewerage effluent, posing potential risks for gene transfer to other bacteria.in aquatic and marine ecosystems. Antibiotic risk assessment approaches were developed based on the use of MICs and MIC Ratios [High (Antibiotic Resistant/Low (Antibiotic Sensitive MIC] for each antibiotic indicating the range of bacterial adaptability to each antibiotic to help define the No

  13. Parental allergic disease before and after child birth poses similar risk for childhood allergies.

    Science.gov (United States)

    Fuertes, E; Standl, M; von Berg, A; Lehmann, I; Hoffmann, B; Bauer, C-P; Koletzko, S; Berdel, D; Heinrich, J

    2015-07-01

    Whether the strength of associations between parental and child allergic diseases differs by whether the first onset of the parental disease is before or after a child's birth has never been examined and is the aim of this study. Yearly childhood asthma, allergic rhinitis, and eczema diagnoses were longitudinally regressed against the effect of a parental disease (pre- vs post-child birth) of the same type separately for each parent using generalized estimation equations. Both a maternal and paternal history of asthma were associated with childhood asthma prevalence up to 15 years of age. Effect estimates were similar for parental asthma with first onset before and after the birth of the child. The results for allergic rhinitis and eczema were less consistent. Parental allergic diseases with first onsets before and after the birth of a child both pose risks to childhood allergic disease in the offspring, especially for asthma. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

  14. Evaluation of human health risks posed by carcinogenic and non-carcinogenic multiple contaminants associated with consumption of fish from Taihu Lake, China.

    Science.gov (United States)

    Yu, Yingxin; Wang, Xinxin; Yang, Dan; Lei, Bingli; Zhang, Xiaolan; Zhang, Xinyu

    2014-07-01

    The present study estimated the human daily intake and uptake of organochlorine pesticides (OCPs), polychlorinated biphenyls (PCBs), polybrominated diphenyl ethers (PBDEs), polycyclic aromatic hydrocarbons (PAHs), and toxic trace elements [mercury (Hg), chromium (Cr), cadmium (Cd), and arsenic (As)] due to consumption of fish from Taihu Lake, China, and the associated potential health risks posed by these contaminants. The health risks posed by the contaminants were assessed using a risk quotient of the fish consumption rate to the maximum allowable fish consumption rate considering the contaminants for carcinogenic and non-carcinogenic effect endpoints. The results showed that fish consumption would not pose non-cancer risks. However, some species would cause a cancer risk. Relative risks of the contaminants were calculated to investigate the contaminant which posed the highest risk to humans. As a result, in view of the contaminants for carcinogenic effects, As was the contaminant which posed the highest risk to humans. However, when non-carcinogenic effects of the contaminants were considered, Hg posed the highest risk. The risk caused by PBDEs was negligible. The results demonstrated that traditional contaminants, such as As, Hg, DDTs (dichlorodiphenyltrichloroethane and its metabolites), and PCBs, require more attention in Taihu Lake than the other target contaminants. Copyright © 2014 Elsevier Ltd. All rights reserved.

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

    Science.gov (United States)

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

    2018-01-01

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

  16. Pediatric head injury.

    Science.gov (United States)

    Tulipan, N

    1998-01-01

    Pediatric head injury is a public health problem that exacts a high price from patients, their families and society alike. While much of the brain damage in head-injured patients occurs at the moment of impact, secondary injuries can be prevented by aggressive medical and surgical intervention. Modern imaging devices have simplified the task of diagnosing intracranial injuries. Recent advances in monitoring technology have made it easier to assess the effectiveness of medical therapy. These include intracranial pressure monitoring devices that are accurate and safe, and jugular bulb monitoring which provides a continuous, qualitative measure of cerebral blood flow. The cornerstones of treatment remain hyperventilation and osmotherapy. Despite maximal treatment, however, the mortality and morbidity associated with pediatric head injury remains high. Reduction of this mortality and morbidity will likely depend upon prevention rather than treatment.

  17. Head First Statistics

    CERN Document Server

    Griffiths, Dawn

    2009-01-01

    Wouldn't it be great if there were a statistics book that made histograms, probability distributions, and chi square analysis more enjoyable than going to the dentist? Head First Statistics brings this typically dry subject to life, teaching you everything you want and need to know about statistics through engaging, interactive, and thought-provoking material, full of puzzles, stories, quizzes, visual aids, and real-world examples. Whether you're a student, a professional, or just curious about statistical analysis, Head First's brain-friendly formula helps you get a firm grasp of statistics

  18. Head and Neck Reconstruction.

    Science.gov (United States)

    Wong, Shannon; Melin, Alyson; Reilly, Debra

    2017-10-01

    Management of head and neck burns involves acute and intermediate phases. Acutely, the goals are establish a secure airway and treat life-threatening injuries. Then, optimize nutrition, assess extent of the burn, perform local wound care, and provide eye protection. Management depends on the degree of the head and neck burn. Postinjury splinting and rehabilitation are vital to healing. After the acute inflammation has resolved and the scars have matured, reconstruction begins with the goals of restoring both function and aesthetics. Reconstruction ranges from simple scar release, to skin grafting, and possibly free flap reconstruction. Copyright © 2017 Elsevier Inc. All rights reserved.

  19. Head first Ajax

    CERN Document Server

    Riordan, Rebecca M

    2008-01-01

    Ajax is no longer an experimental approach to website development, but the key to building browser-based applications that form the cornerstone of Web 2.0. Head First Ajax gives you an up-to-date perspective that lets you see exactly what you can do -- and has been done -- with Ajax. With it, you get a highly practical, in-depth, and mature view of what is now a mature development approach. Using the unique and highly effective visual format that has turned Head First titles into runaway bestsellers, this book offers a big picture overview to introduce Ajax, and then explores the use of ind

  20. An Estimated Income Scale.

    Science.gov (United States)

    Nicholson, Everard

    The decision to develop an estimated income scale arose from a wish to prove or disprove the statement that colleges like Brown University may be headed toward a situation where the student body will consist of the rich and the poor, the traditional group of middle class having been eliminated. As the research proceeded, it became evident that an…

  1. A Review of Instrumented Equipment to Investigate Head Impacts in Sport

    OpenAIRE

    PATTON, Declan A.

    2016-01-01

    Contact, collision, and combat sports have more head impacts as compared to noncontact sports; therefore, such sports are uniquely suited to the investigation of head impact biomechanics. Recent advances in technology have enabled the development of instrumented equipment, which can estimate the head impact kinematics of human subjects in vivo. Literature pertaining to head impact measurement devices was reviewed and usage, in terms of validation and field studies, of such devices was discuss...

  2. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available Toggle navigation Test/Treatment Patient Type Screening/Wellness Disease/Condition Safety En Español More Info Images/Videos ... head injuries, stroke , brain tumors and other brain diseases than regular radiographs (x-rays). top of page ...

  3. Lubricating the swordfish head

    NARCIS (Netherlands)

    Videler, John J.; Haydar, Deniz; Snoek, Roelant; Hoving, Henk-Jan T.; Szabo, Ben G.

    The swordfish is reputedly the fastest swimmer on Earth. The concave head and iconic sword are unique characteristics, but how they contribute to its speed is still unknown. Recent computed tomography scans revealed a poorly mineralised area near the base of the rostrum. Here we report, using

  4. Waco Head Start Program.

    Science.gov (United States)

    Porter, Para

    The Economic Opportunity Act of 1964 led to the formation of three separate Head Start Programs in Waco, Texas. The first year, 1,500 children were involved. Of these, 40 percent were Negro, 30 percent Latin American, and 30 percent white. All teachers received a week of preparatory study at the University of Texas. The program involved four areas…

  5. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available Toggle navigation Test/Treatment Patient Type Screening/Wellness Disease/Condition Safety En Español More Info Images/Videos About Us News Physician Resources Professions Site Index A-Z Computed Tomography (CT) - Head ...

  6. Ultrasound: Head (For Parents)

    Science.gov (United States)

    ... a safe and painless test that uses sound waves to make images of the brain. During the examination, an ultrasound machine sends sound ... The fontanel provides an opening for the sound waves to get through and reach the brain. Why It's Done Doctors order head ultrasounds when ...

  7. Silva as the Head

    DEFF Research Database (Denmark)

    Svabo, Connie

    2015-01-01

    The head of the performance design programme is substituted by a sister's academy delegate. this performance situation formed part of a week of semesterstart where the students and professors visited Sister's Academy, Malmø. I participated in the Sister's Academy as visiting researcher and here...

  8. Computed Tomography (CT) -- Head

    Medline Plus

    Full Text Available ... full size with caption Pediatric Content Some imaging tests and treatments have special pediatric considerations. The teddy bear denotes child-specific content. Related Articles and Media Radiation Dose in X-Ray and CT Exams Blood Clots CT Perfusion of the Head CT Angiography ( ...

  9. Head nurses as middle managers.

    Science.gov (United States)

    Johnston, P F

    1983-11-01

    The relationship between head nurses and their staff nurses influences staff turnover rates and job satisfaction. In this article the author describes the measures taken by the management of Greater Southeast Community Hospital in response to an increasing turnover rate among staff RNs. In recognition of the head nurse role vis-d-vis attrition rates and job satisfaction, head nurses were upgraded to department head status and rigorous head nurse performance standards were developed. These standards required clinical expertise, managerial competence, and accountability. It is the author's contention that clinical practice and staff morale are directly related to a clearly defined head nurse role.

  10. Coordinates of Human Visual and Inertial Heading Perception.

    Directory of Open Access Journals (Sweden)

    Benjamin Thomas Crane

    Full Text Available Heading estimation involves both inertial and visual cues. Inertial motion is sensed by the labyrinth, somatic sensation by the body, and optic flow by the retina. Because the eye and head are mobile these stimuli are sensed relative to different reference frames and it remains unclear if a perception occurs in a common reference frame. Recent neurophysiologic evidence has suggested the reference frames remain separate even at higher levels of processing but has not addressed the resulting perception. Seven human subjects experienced a 2s, 16 cm/s translation and/or a visual stimulus corresponding with this translation. For each condition 72 stimuli (360° in 5° increments were delivered in random order. After each stimulus the subject identified the perceived heading using a mechanical dial. Some trial blocks included interleaved conditions in which the influence of ±28° of gaze and/or head position were examined. The observations were fit using a two degree-of-freedom population vector decoder (PVD model which considered the relative sensitivity to lateral motion and coordinate system offset. For visual stimuli gaze shifts caused shifts in perceived head estimates in the direction opposite the gaze shift in all subjects. These perceptual shifts averaged 13 ± 2° for eye only gaze shifts and 17 ± 2° for eye-head gaze shifts. This finding indicates visual headings are biased towards retina coordinates. Similar gaze and head direction shifts prior to inertial headings had no significant influence on heading direction. Thus inertial headings are perceived in body-centered coordinates. Combined visual and inertial stimuli yielded intermediate results.

  11. Head injuries, heading, and the use of headgear in soccer.

    Science.gov (United States)

    Niedfeldt, Mark W

    2011-01-01

    Soccer has more than 265 million players around the world and is the only contact sport with purposeful use of the head for controlling and advancing the ball. Head contact in soccer has the potential to cause acute traumatic brain injury including concussion or, potentially, a pattern of chronic brain injury. Although early retrospective research on the effects of soccer heading seemed to suggest that purposeful heading may contribute to long-term cognitive impairment, prospective controlled studies do not support this and, in fact, suggest that purposeful heading may not be a risk factor for cognitive impairment. Headgear has not been shown to be effective in reducing ball impact but may be helpful in reducing the force of non-ball-related impacts to the head. There are concerns that universal use of headgear may cause more aggressive heading and head challenges, leading to increased risk of injury.

  12. Radial Head Fractures

    Science.gov (United States)

    Jordan, Robert W.; Jones, Alistair DR.

    2017-01-01

    Background: Radial head fractures are common elbow injuries in adults and are frequently associated with additional soft tissue and bone injuries. Methods: A literature search was performed and the authors’ personal experiences are reported. Results: Mason type I fractures are treated non-operatively with splinting and early mobilisation. The management of Mason type II injuries is less clear with evidence supporting both non-operative treatment and internal fixation. The degree of intra-articular displacement and angulation acceptable for non-operative management has yet to be conclusively defined. Similarly the treatment of type III and IV fractures remain controversial. Traditional radial head excision is associated with valgus instability and should be considered only for patients with low functional demands. Comparative studies have shown improved results from internal fixation over excision. Internal fixation should only be attempted when anatomic reduction and initiation of early motion can be achieved. Authors have reported that results from fixation are poorer and complication rates are higher if more than three fragments are present. Radial head arthroplasty aims to reconstruct the native head and is indicated when internal fixation is not feasible and in the presence of complex elbow injuries. Overstuffing of the radiocapitellar joint is a frequent technical fault and has significant adverse effects on elbow biomechanics. Modular design improves the surgeon’s ability to reconstruct the native joint. Two randomised controlled trials have shown improved clinical outcomes and lower complication rate following arthroplasty when compared to internal fixation. Conclusion: We have presented details regarding the treatment of various types of radial head fractures - further evidence, however, is still required to provide clarity over the role of these different management strategies. PMID:29290880

  13. Case Report: Down-staging locally advanced head and neck cancer ...

    African Journals Online (AJOL)

    cells but did not develop any alopecia, mucosal, neurological, nephrotoxic, or neutropenic complications. Our patient tolerated this protocol reasonably well. Management of HIV infected patients with locally advanced head and neck cancers pose a challenge due to lack of evidence on how such patients ought to be treated.

  14. Estimation of beat-to-beat changes in stroke volume from arterial pressure: a comparison of two pressure wave analysis techniques during head-up tilt testing in young, healthy men

    NARCIS (Netherlands)

    Jellema, W. T.; Imholz, B. P.; Oosting, H.; Wesseling, K. H.; van Lieshout, J. J.

    1999-01-01

    OBJECTIVE: The aim of this study was to compare beat-to-beat changes in stroke volume (SV) estimated by two different pressure wave analysis techniques during orthostatic stress testing: pulse contour analysis and Modelflow, i.e., simulation of a three-element model of aortic input impedance.

  15. Estimation of beat-to-beat changes in stroke volume from arterial pressure: A comparison of two pressure wave analysis techniques during head- up tilt testing in young, healthy men

    NARCIS (Netherlands)

    Jellema, W.T.; Imholz, B.P.M.; Oosting, H.; Wesseling, K.H.; Lieshout, J.J. van

    1999-01-01

    Objective: The aim of this study was to compare beat-to-beat changes in stroke volume (SV) estimated by two different pressure wave analysis techniques during orthostatic stress testing: pulse contour analysis and Modelflow, ie, simulation of a three-element model of aortic input impedance. Methods:

  16. Hydra multiple head star sensor and its in-flight self-calibration of optical heads alignment

    Science.gov (United States)

    Majewski, L.; Blarre, L.; Perrimon, N.; Kocher, Y.; Martinez, P. E.; Dussy, S.

    2017-11-01

    HYDRA is EADS SODERN new product line of APS-based autonomous star trackers. The baseline is a multiple head sensor made of three separated optical heads and one electronic unit. Actually the concept which was chosen offers more than three single-head star trackers working independently. Since HYDRA merges all fields of view the result is a more accurate, more robust and completely autonomous multiple-head sensor, releasing the AOCS from the need to manage the outputs of independent single-head star trackers. Specific to the multiple head architecture and the underlying data fusion, is the calibration of the relative alignments between the sensor optical heads. The performance of the sensor is related to its estimation of such alignments. HYDRA design is first reminded in this paper along with simplification it can bring at system level (AOCS). Then self-calibration of optical heads alignment is highlighted through descriptions and simulation results, thus demonstrating the performances of a key part of HYDRA multiple-head concept.

  17. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... News Physician Resources Professions Site Index A-Z Magnetic Resonance Imaging (MRI) - Head Magnetic resonance imaging (MRI) of the head uses a powerful magnetic field, radio waves and a computer to produce ...

  18. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... content. Related Articles and Media MR Angiography (MRA) Magnetic Resonance, Functional (fMRI) - Brain Head and Neck Cancer Treatment Brain Tumor Treatment Magnetic Resonance Imaging (MRI) Safety Alzheimer's Disease Head Injury Brain ...

  19. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... Articles and Media MR Angiography (MRA) Magnetic Resonance, Functional (fMRI) - Brain Head and Neck Cancer Treatment Brain Tumor Treatment Magnetic Resonance Imaging (MRI) Safety Alzheimer's Disease Head Injury Brain Tumors Images related to ...

  20. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... are the limitations of MRI of the Head? What is MRI of the Head? Magnetic resonance imaging ( ... brain) in routine clinical practice. top of page What are some common uses of the procedure? MR ...

  1. Childhood Head and Neck Irradiation

    Science.gov (United States)

    ... Thyroid Association ® www.thyroid.org Childhood Head & Neck Irradiation What is the thyroid gland? The thyroid gland ... Thyroid Association ® www.thyroid.org Childhood Head & Neck Irradiation Thyroid nodules (see Thyroid Nodule brochure) • Thyroid nodules ...

  2. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... for Brain Tumors Radiation Therapy for Head and Neck Cancer Others : American Stroke Association National Stroke Association ... MRA) Magnetic Resonance, Functional (fMRI) - Brain Head and Neck Cancer Treatment Brain Tumor Treatment Magnetic Resonance Imaging ( ...

  3. Calibrating corneal material model parameters using only inflation data: an ill-posed problem.

    Science.gov (United States)

    Kok, S; Botha, N; Inglis, H M

    2014-12-01

    Goldmann applanation tonometry (GAT) is a method used to estimate the intraocular pressure by measuring the indentation resistance of the cornea. A popular approach to investigate the sensitivity of GAT results to material and geometry variations is to perform numerical modelling using the finite element method, for which a calibrated material model is required. These material models are typically calibrated using experimental inflation data by solving an inverse problem. In the inverse problem, the underlying material constitutive behaviour is inferred from the measured macroscopic response (chamber pressure versus apical displacement). In this study, a biomechanically motivated elastic fibre-reinforced corneal material model is chosen. The inverse problem of calibrating the corneal material model parameters using only experimental inflation data is demonstrated to be ill-posed, with small variations in the experimental data leading to large differences in the calibrated model parameters. This can result in different groups of researchers, calibrating their material model with the same inflation test data, drawing vastly different conclusions about the effect of material parameters on GAT results. It is further demonstrated that multiple loading scenarios, such as inflation as well as bending, would be required to reliably calibrate such a corneal material model. Copyright © 2014 John Wiley & Sons, Ltd.

  4. Unintended allergens in precautionary labelled and unlabelled products pose significant risks to UK allergic consumers.

    Science.gov (United States)

    Remington, B C; Baumert, J L; Blom, W M; Houben, G F; Taylor, S L; Kruizinga, A G

    2015-07-01

    Allergens in food may pose a risk to allergic consumers. While there is EU regulation for allergens present as an ingredient, this is not the case for unintended allergen presence (UAP). Food companies use precautionary allergen labels to inform allergic individuals of a potential risk from UAPs. This study investigates the risk of an allergic reaction within the milk-, wheat-, hazelnut- and peanut-allergic populations when ingesting UK foods across multiple product categories with and without precautionary allergen labelling. Allergen risk assessment using probabilistic techniques enables the estimation of the residual risk after the consumption of a product that unintentionally contains an allergen. Within this selection of UK products, the majority that tested positive for an allergen contained a concentration of allergen predicted to cause a reaction in >1% of the allergic population. The concentrations of allergens measured were greater than the VITAL(®) 2.0 action levels and would trigger precautionary allergen labelling. This was found for products both with and without precautionary allergen labelling. The results highlight the need for the food industry and regulators to adopt a transparent, risk-based approach for the communication of the risk associated with potential cross-contact that could occur in the processing facility or production chain. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

  5. ToF camera ego-motion estimation

    CSIR Research Space (South Africa)

    Ratshidaho, T

    2012-10-01

    Full Text Available We present three approaches for ego-motion estimation using Time-of-Flight (ToF) camera data. Ego-motion is defined as a process of estimating a camera’s pose (position and orientation) relative to some initial pose using the camera’s image...

  6. Making 2D face recognition more robust using AAMs for pose compensation

    NARCIS (Netherlands)

    Huisman, Peter; Munster, Ruud; Moro-Ellenberger, Stephanie; Veldhuis, Raymond N.J.; Bazen, A.M.

    2006-01-01

    The problem of pose in 2D face recognition is widely acknowledged. Commercial systems are limited to near frontal face images and cannot deal with pose deviations larger than 15 degrees from the frontal view. This is a problem, when using face recognition for surveillance applications in which

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

    Science.gov (United States)

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

    2013-01-01

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

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

    Science.gov (United States)

    Cankoy, Osman; Özder, Hasan

    2017-01-01

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

  9. Comparison of Silhouette Shape Descriptors for Example-based Human Pose Recovery

    NARCIS (Netherlands)

    Poppe, Ronald Walter; Poel, Mannes

    2006-01-01

    Automatically recovering human poses from visual input is useful but challenging due to variations in image space and the high dimensionality of the pose space. In this paper, we assume that a human silhouette can be extracted from monocular visual input. We compare three shape descriptors that are

  10. Pose determination of a blade implant in three dimensions from a single two-dimensional radiograph.

    Science.gov (United States)

    Toti, Paolo; Barone, Antonio; Marconcini, Simone; Menchini-Fabris, Giovanni Battista; Martuscelli, Ranieri; Covani, Ugo

    2018-01-11

    The aim of the study was to introduce a mathematical method to estimate the correct pose of a blade by evaluating the radiographic features obtained from a single two-dimensional image. Blade-form implant bed preparation was performed using the piezosurgery device, and placement was attained with the use of magnetic mallet. The pose determination of the blade was described by means of three consecutive rotations defined by three angles of orientation (triplet φ, θ and ψ). Retrospective analysis on periapical radiographs was performed. This method was used to compare implant (axial length along the marker, i.e. the implant structure) vs angular correction factor (a trigonometric function of the triplet). The accuracy of the method was tested by generating two-dimensional radiographic simulations of the blades, which were then compared with the images of the implants as appearing on the real radiographs. Two patients had to be excluded from further evaluation because the values of the estimated pose angles showed a too-wide range to be effective for a good standardization of serial radiographs: intrapatient range from baseline to 1-year survey was > of a threshold determined by the clinicians (30°). The linear dependence between implant (CF°) and angular correction factor (CF^) was estimated by a robust linear regression, yielding the following coefficients: slope, 0.908; intercept, -0.092; and coefficient of determination, 0.924. The absolute error in accuracy was -0.29 ± 4.35, 0.23 ± 3.81 and 0.64 ± 1.18°, respectively, for the angles φ, θ and ψ. The present theoretical and experimental study established the possibility of determining, a posteriori, a unique triplet of angles (φ, θ and ψ) which described the pose of a blade upon a single two-dimensional radiograph, and of suggesting a method to detect cases in which the standardized geometric projection failed. The angular correction of the bone level yielded results very close to those obtained

  11. Calibration algorithm for eyetracking with unrestricted head movement.

    Science.gov (United States)

    Johnson, Jeffrey S; Liu, Li; Thomas, Geb; Spencer, John P

    2007-02-01

    This article reports a calibration procedure that enables researchers to track movements of the eye while allowing relatively unrestricted head and/or body movement. The eye-head calibration algorithm calculates fixation point based on eye-position data acquired by a head-mounted eyetracker and corresponding head-position data acquired by a 3-D motion-tracking system. In a single experiment, we show that this procedure provides robust eye-position estimates while allowing free head movement. Although several companies offer ready-made systems for this purpose, there is no literature available that makes it possible for researchers to explore the details of the calibration procedures used by these systems. By making such details available, we hope to facilitate the development of cost-effective, nonproprietary eyetracking solutions.

  12. Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

    Directory of Open Access Journals (Sweden)

    Yicheng Liu

    2016-01-01

    Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

  13. Fine‐Motion Estimation Using Ego/Exo‐Cameras

    National Research Council Canada - National Science Library

    Uhm, Taeyoung; Ryu, Minsoo; Park, Jong‐Il

    2015-01-01

    .... Existing pose estimation using a monocular camera employs either ego‐motion or exo‐motion, both of which are not sufficiently accurate for estimating fine motion due to the motion ambiguity of rotation and translation...

  14. Where are we heading

    Energy Technology Data Exchange (ETDEWEB)

    Noto, L.A. [Mobil Corporation, (United States)

    1996-12-31

    The present paper deals with different aspects connected to the global petroleum industry by discussing the way of heading. The aspects cover themes like new frontiers, new relationships, sanctions, global climate change, new alliances and new technology. New frontiers and relationships concern domestic policy affecting the industry, and sanctions are discussed in connection with trade. The author discusses the industry`s participation in the global environmental policy and new alliances to provide greater opportunity for developing new technology

  15. Radial Head Fractures

    OpenAIRE

    Jordan, Robert W.; Jones, Alistair DR.

    2017-01-01

    Background: Radial head fractures are common elbow injuries in adults and are frequently associated with additional soft tissue and bone injuries. Methods: A literature search was performed and the authors’ personal experiences are reported. Results: Mason type I fractures are treated non-operatively with splinting and early mobilisation. The management of Mason type II injuries is less clear with evidence supporting both non-operative treatment and internal fixation. The degree of intra-arti...

  16. Targeted therapy: A novel approach in head and neck cancer

    Directory of Open Access Journals (Sweden)

    A Winnifred Christy

    2013-01-01

    Full Text Available The majority of patients with head and neck cancer present with locally advanced disease. Locally advanced squamous cell carcinoma of the head and neck (LA-SCCHN poses one of the most complex management challenges. This stage of disease is still potentially curable, but requires combined-modality therapy. One of the novel approaches is the use of targeted agents, particularly the epidermal growth factor receptor (EGFR inhibitors, in treatment strategies in LA-SCCHN. A Medline search covering topics related to targeted therapies in head and neck cancer over the last two decades was made and the facts were compiled. Cetuximab was the first novel agent to obtain regulatory approval in the United States for the treatment of patients with Head and Neck Squamous Cell Cancer HNSCC. Cetuximab has been evaluated in combination with radiotherapy, chemo-radiotherapy, and induction chemotherapies, and was found to increase the overall survival rates in all the arms without raising the toxicity level of the combined modality of treatment significantly. The tyrosine kinase inhibitors Gefinitib and Erlotinib also produced an average response rate of 11% and 4% in different studies and also prolonged the disease control rates when used with chemotherapy. This paper will review the role of targeted agents, particularly the EGFR inhibitors, in the present treatment strategies in advanced, recurrent/metastatic head and neck cancer.

  17. Head-Impact-Measurement Devices: A Systematic Review.

    Science.gov (United States)

    O'Connor, Kathryn L; Rowson, Steven; Duma, Stefan M; Broglio, Steven P

    2017-03-01

    With an estimated 3.8 million sport- and recreation-related concussions occurring annually, targeted prevention and diagnostic methods are needed. Biomechanical analysis of head impacts may provide quantitative information that can inform both prevention and diagnostic strategies. To assess available head-impact devices and their clinical utility. We performed a systematic search of the electronic database PubMed for peer-reviewed publications, using the following phrases: accelerometer and concussion, head impact telemetry, head impacts and concussion and sensor, head impacts and sensor, impact sensor and concussion, linear acceleration and concussion, rotational acceleration and concussion, and xpatch concussion. In addition to the literature review, a Google search for head impact monitor and concussion monitor yielded 15 more devices. Included studies were performed in vivo, used commercially available devices, and focused on sport-related concussion. One author reviewed the title and abstract of each study for inclusion and exclusion criteria and then reviewed each full-text article to confirm inclusion criteria. Controversial articles were reviewed by all authors to reach consensus. In total, 61 peer-reviewed articles involving 4 head-impact devices were included. Participants in boxing, football, ice hockey, soccer, or snow sports ranged in age from 6 to 24 years; 18% (n = 11) of the studies included female athletes. The Head Impact Telemetry System was the most widely used device (n = 53). Fourteen additional commercially available devices were presented. Measurements collected by impact monitors provided real-time data to estimate player exposure but did not have the requisite sensitivity to concussion. Proper interpretation of previously reported head-impact kinematics across age, sport, and position may inform future research and enable staff clinicians working on the sidelines to monitor athletes. However, head-impact-monitoring systems have limited

  18. Distinct spatial coordinate of visual and vestibular heading signals in macaque FEFsem and MSTd

    Science.gov (United States)

    Yang, Lihua

    2017-01-01

    Precise heading estimate requires integration of visual optic flow and vestibular inertial motion originating from distinct spatial coordinates (eye- and head-centered, respectively). To explore whether the two heading signals may share a common reference frame along the hierarchy of cortical stages, we explored two multisensory areas in macaques: the smooth pursuit area of the frontal eye field (FEFsem) closer to the motor side, and the dorsal portion of medial superior temporal area (MSTd) closer to the sensory side. In both areas, vestibular signals are head-centered, whereas visual signals are mainly eye-centered. However, visual signals in FEFsem are more shifted towards the head coordinate compared to MSTd. These results are robust being largely independent on: (1) smooth pursuit eye movement, (2) motion parallax cue, and (3) behavioral context for active heading estimation, indicating that the visual and vestibular heading signals may be represented in distinct spatial coordinate in sensory cortices. PMID:29134944

  19. Texturing of Surface of 3D Human Head Model

    Directory of Open Access Journals (Sweden)

    V. Michalcin

    2004-12-01

    Full Text Available The paper deals with an algorithm of texturing of the surface of 3Dhuman head model. The proposed algorithm generates a textureconsequently of several camera frames of the input video sequence. Thetexture values from the camera frames are mapped on the surface of the3D human head model using perspective projection, scan line and 3Dmotion estimation. To decrease the number of camera frames a filling ofempty places by a simple interpolation method has been done in thetexture plane.

  20. Adaptive algorithm of magnetic heading detection

    Science.gov (United States)

    Liu, Gong-Xu; Shi, Ling-Feng

    2017-11-01

    Magnetic data obtained from a magnetic sensor usually fluctuate in a certain range, which makes it difficult to estimate the magnetic heading accurately. In fact, magnetic heading information is usually submerged in noise because of all kinds of electromagnetic interference and the diversity of the pedestrian’s motion states. In order to solve this problem, a new adaptive algorithm based on the (typically) right-angled corridors of a building or residential buildings is put forward to process heading information. First, a 3D indoor localization platform is set up based on MPU9250. Then, several groups of data are measured by changing the experimental environment and pedestrian’s motion pace. The raw data from the attached inertial measurement unit are calibrated and arranged into a time-stamped array and written to a data file. Later, the data file is imported into MATLAB for processing and analysis using the proposed adaptive algorithm. Finally, the algorithm is verified by comparison with the existing algorithm. The experimental results show that the algorithm has strong robustness and good fault tolerance, which can detect the heading information accurately and in real-time.

  1. A Gaussian process guided particle filter for tracking 3D human pose in video.

    Science.gov (United States)

    Sedai, Suman; Bennamoun, Mohammed; Huynh, Du Q

    2013-11-01

    In this paper, we propose a hybrid method that combines Gaussian process learning, a particle filter, and annealing to track the 3D pose of a human subject in video sequences. Our approach, which we refer to as annealed Gaussian process guided particle filter, comprises two steps. In the training step, we use a supervised learning method to train a Gaussian process regressor that takes the silhouette descriptor as an input and produces multiple output poses modeled by a mixture of Gaussian distributions. In the tracking step, the output pose distributions from the Gaussian process regression are combined with the annealed particle filter to track the 3D pose in each frame of the video sequence. Our experiments show that the proposed method does not require initialization and does not lose tracking of the pose. We compare our approach with a standard annealed particle filter using the HumanEva-I dataset and with other state of the art approaches using the HumanEva-II dataset. The evaluation results show that our approach can successfully track the 3D human pose over long video sequences and give more accurate pose tracking results than the annealed particle filter.

  2. On pose determination using point features. [vision system for space robots

    Science.gov (United States)

    Hwang, Vincent; Keizer, Richard; Winkert, Tom; Spidaliere, Peter

    1992-01-01

    Consideration is given to the vision subsystem of an Orbital Replacement Unit (ORU) that was placed onto its base at Goddard Space Flight Center by a PUMA 762 robot equipped with a wrist-mounted CCD camera and a wrist-mounted force sensor. It is found that a simple adaptive thresholding method works quite well for images taken under various lighting conditions. The pose computed using the quadrangle method is reasonable for real images. In the presence of image feature noise the accuracy of the computed pose can be considerably reduced. This problem can be solved by using a 3D marker and an alternative pose computation algorithm.

  3. On Mathematical Problem Posing by Elementary Pre-teachers: The Case of Spreadsheets

    Directory of Open Access Journals (Sweden)

    Sergei Abramovich

    2008-07-01

    Full Text Available This article concerns the use of an electronic spreadsheet in mathematical problem posing by prospective elementary teachers. It introduces a didactic construct dealing with three types of a problem's coherence -- numerical, contextual and pedagogical. The main thesis of the article is that technological support of problem posing proves to be insufficient without one's use of this construct. The article reflects on work done with the teachers in a number of education courses. It suggests that including mathematics problem posing with spreadsheets into a coursework for the teachers provides them with research-like experience in curriculum development.

  4. Head First Web Design

    CERN Document Server

    Watrall, Ethan

    2008-01-01

    Want to know how to make your pages look beautiful, communicate your message effectively, guide visitors through your website with ease, and get everything approved by the accessibility and usability police at the same time? Head First Web Design is your ticket to mastering all of these complex topics, and understanding what's really going on in the world of web design. Whether you're building a personal blog or a corporate website, there's a lot more to web design than div's and CSS selectors, but what do you really need to know? With this book, you'll learn the secrets of designing effecti

  5. "E" Heating Head

    Science.gov (United States)

    Fox, Robert L.; Swaim, Robert J.; Johnson, Samuel D.; Coultrip, Robert H.; Phillips, W. Morris; Copeland, Carl E.

    1994-01-01

    Two separate areas heated inductively for adhesive bonding in single operation. "E" heating head developed to satisfy need for fast-acting and reliable induction heating device. Used in attaching "high-hat" stiffeners to aircraft panels. Incorporates principles and circuitry of toroid joining gun. Width and length configured to provide variously sized heat zones, depending on bonding requirements. Lightweight, portable and provides rapid, reliable heating of dual areas in any environment. Well suited for flight-line and depot maintenance, and battlefield repair. Also useful in automotive assembly lines to strengthen automobile panels.

  6. Head First Python

    CERN Document Server

    Barry, Paul

    2010-01-01

    Ever wished you could learn Python from a book? Head First Python is a complete learning experience for Python that helps you learn the language through a unique method that goes beyond syntax and how-to manuals, helping you understand how to be a great Python programmer. You'll quickly learn the language's fundamentals, then move onto persistence, exception handling, web development, SQLite, data wrangling, and Google App Engine. You'll also learn how to write mobile apps for Android, all thanks to the power that Python gives you. We think your time is too valuable to waste struggling with

  7. Head first C#

    CERN Document Server

    Stellman, Andrew

    2010-01-01

    You want to learn C# programming, but you're not sure you want to suffer through another tedious technical book. You're in luck: Head First C# introduces this language in a fun, visual way. You'll quickly learn everything from creating your first program to learning sophisticated coding skills with C# 4.0, Visual Studio 2010 and .NET 4, while avoiding common errors that frustrate many students. The second edition offers several hands-on labs along the way to help you build and test programs using skills you've learned up to that point. In the final lab, you'll put everything together. From o

  8. Head first C#

    CERN Document Server

    Stellman, Andrew

    2008-01-01

    Head First C# is a complete learning experience for object-oriented programming, C#, and the Visual Studio IDE. Built for your brain, this book covers C# 3.0 and Visual Studio 2008, and teaches everything from language fundamentals to advanced topics including garbage collection, extension methods, and double-buffered animation. You'll also master C#'s hottest and newest syntax, LINQ, for querying SQL databases, .NET collections, and XML documents. By the time you're through, you'll be a proficient C# programmer, designing and coding large-scale applications. Every few chapters you will come

  9. Head First Mobile Web

    CERN Document Server

    Gardner, Lyza; Grigsby, Jason

    2011-01-01

    Despite the huge number of mobile devices and apps in use today, your business still needs a website. You just need it to be mobile. Head First Mobile Web walks you through the process of making a conventional website work on a variety smartphones and tablets. Put your JavaScript, CSS media query, and HTML5 skills to work-then optimize your site to perform its best in the demanding mobile market. Along the way, you'll discover how to adapt your business strategy to target specific devices. Navigate the increasingly complex mobile landscapeTake both technical and strategic approaches to mobile

  10. Head and neck cancer in South Asia: Macroeconomic consequences and the role of the head and neck surgeon.

    Science.gov (United States)

    Alkire, Blake C; Bergmark, Regan W; Chambers, Kyle; Lin, Derrick T; Deschler, Daniel G; Cheney, Mack L; Meara, John G

    2016-08-01

    Head and neck cancer constitutes a substantial portion of the burden of disease in South Asia, and there is an undersupply of surgical capacity in this region. The purpose of this study was to estimate the economic welfare losses due to head and neck cancer in India, Pakistan, and Bangladesh in 2010. We used publicly available estimates of head and neck cancer morbidity and mortality along with a concept termed the value of a statistical life to estimate economic welfare losses in the aforementioned countries in 2010. Economic losses because of head and neck cancer in India, Pakistan, and Bangladesh totaled $16.9 billion (2010 US dollars [USD]), equivalent to 0.26% of the region's economic output. Bangladesh, the poorest country, experienced the greatest proportional losses. The economic consequences of head and neck cancer in South Asia are significant, and building surgical capacity is essential to begin to address this burden. © 2016 Wiley Periodicals, Inc. Head Neck 38:1242-1247, 2016. © 2016 Wiley Periodicals, Inc.

  11. The Importance of Properly Compensating for Head Movements During MEG Acquisition Across Different Age Groups.

    Science.gov (United States)

    Larson, Eric; Taulu, Samu

    2017-03-01

    Unlike EEG sensors, which are attached to the head, MEG sensors are located outside the head surface on a fixed external device. Subject head movements during acquisition thus distort the magnetic field distributions measured by the sensors. Previous studies have looked at the effect of head movements, but no study has comprehensively looked at the effect of head movements across age groups, particularly in infants. Using MEG recordings from subjects ranging in age from 3 months through adults, here we first quantify the variability in head position as a function of age group. We then combine these measured head movements with brain activity simulations to determine how head movements bias source localization from sensor magnetic fields measured during movement. We find that large amounts of head movement, especially common in infant age groups, can result in large localization errors. We then show that proper application of head movement compensation techniques can restore localization accuracy to pre-movement levels. We also find that proper noise covariance estimation (e.g., during the baseline period) is important to minimize localization bias following head movement compensation. Our findings suggest that head position measurement during acquisition and compensation during analysis is recommended for researchers working with subject populations or age groups that could have substantial head movements. This is especially important in infant MEG studies.

  12. A Modified Hybrid III 6-Year-Old Dummy Head Model for Lateral Impact Assessment

    Directory of Open Access Journals (Sweden)

    I. A. Rafukka

    2016-01-01

    Full Text Available Hybrid III six-year-old (6YO child dummy head model was developed and validated for frontal impact assessment according to the specifications contained in Code of Federal Regulations, Title 49, Part 572.122, Subpart N by Livermore Software Technology Corporation (LSTC. This work is aimed at improving biofidelity of the head for frontal impact and also extending its application to lateral impact assessment by modifying the head skin viscoelastic properties and validating the head response using the scaled nine-year-old (9YO child cadaver head response recently published in the literature. The modified head model was validated for two drop heights for frontal, right, and left parietal impact locations. Peak resultant acceleration of the modified head model appeared to have good correlation with scaled 9YO child cadaver head response for frontal impact on dropping from 302 mm height and fair correlation with 12.3% difference for 151 mm drop height. Right parietal peak resultant acceleration values correlate well with scaled 9YO head experimental data for 153 mm drop height, while fair correlation with 16.4% difference was noticed for 302 mm drop height. Left parietal, however, shows low biofidelity for the two drop heights as the difference in head acceleration response was within 30%. The modified head model could therefore be used to estimate injuries in vehicle crash for head parietal impact locations which cannot be measured by the current hybrid III dummy head model.

  13. Trotting Gait of a Quadruped Robot Based on the Time-Pose Control Method

    Directory of Open Access Journals (Sweden)

    Cai RunBin

    2013-02-01

    Full Text Available We present the Time-Pose control method for the trotting gait of a quadruped robot on flat ground and up a slope. The method, with brief control structure, real-time operation ability and high adaptability, divides quadruped robot control into gait control and pose control. Virtual leg and intuitive controllers are introduced to simplify the model and generate the trajectory of mass centre and location of supporting legs in gait control, while redundancy optimization is used for solving the inverse kinematics in pose control. The models both on flat ground and up a slope are fully analysed, and different kinds of optimization methods are compared using the manipulability measure in order to select the best option. Simulations are performed, which prove that the Time-Pose control method is realizable for these two kinds of environment.

  14. A Grasp-Pose Generation Method Based on Gaussian Mixture Models

    Directory of Open Access Journals (Sweden)

    Wenjia Wu

    2015-11-01

    Full Text Available A Gaussian Mixture Model (GMM-based grasp-pose generation method is proposed in this paper. Through offline training, the GMM is set up and used to depict the distribution of the robot's reachable orientations. By dividing the robot's workspace into small 3D voxels and training the GMM for each voxel, a look-up table covering all the workspace is built with the x, y and z positions as the index and the GMM as the entry. Through the definition of Task Space Regions (TSR, an object's feasible grasp poses are expressed as a continuous region. With the GMM, grasp poses can be preferentially sampled from regions with high reachability probabilities in the online grasp-planning stage. The GMM can also be used as a preliminary judgement of a grasp pose's reachability. Experiments on both a simulated and a real robot show the superiority of our method over the existing method.

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

    Science.gov (United States)

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

    2017-01-01

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

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

    Science.gov (United States)

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

    2017-05-01

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

  17. Well-posed continuum equations for granular flow with compressibility and $\\mu(I)$-rheology

    CERN Document Server

    Barker, T; Shearer, M; Gray, J M N T

    2016-01-01

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

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

    Science.gov (United States)

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

    2016-09-01

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

  19. Binding pose and affinity prediction in the 2016 D3R Grand Challenge 2 using the Wilma-SIE method

    Science.gov (United States)

    Hogues, Hervé; Sulea, Traian; Gaudreault, Francis; Corbeil, Christopher R.; Purisima, Enrico O.

    2017-10-01

    The Farnesoid X receptor (FXR) exhibits significant backbone movement in response to the binding of various ligands and can be a challenge for pose prediction algorithms. As part of the D3R Grand Challenge 2, we tested Wilma-SIE, a rigid-protein docking method, on a set of 36 FXR ligands for which the crystal structures had originally been blinded. These ligands covered several classes of compounds. To overcome the rigid protein limitations of the method, we used an ensemble of publicly available structures for FXR from the PDB. The use of the ensemble allowed Wilma-SIE to predict poses with average and median RMSDs of 2.3 and 1.4 Å, respectively. It was quite clear, however, that had we used a single structure for the receptor the success rate would have been much lower. The most successful predictions were obtained on chemical classes for which one or more crystal structures of the receptor bound to a molecule of the same class was available. In the absence of a crystal structure for the class, observing a consensus binding mode for the ligands of the class using one or more receptor structures of other classes seemed to be indicative of a reasonable pose prediction. Affinity prediction proved to be more challenging with generally poor correlation with experimental IC50s (Kendall tau 0.3). Even when the 36 crystal structures were used the accuracy of the predicted affinities was not appreciably improved. A possible cause of difficulty is the internal energy strain arising from conformational differences in the receptor across complexes, which may need to be properly estimated and incorporated into the SIE scoring function.

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

    Science.gov (United States)

    Lindell, Annukka K

    2017-01-01

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

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

    Science.gov (United States)

    Lindell, Annukka K.

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Lukas D. Lopez

    2017-05-01

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

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

    Science.gov (United States)

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

    2017-01-01

    Emotion can be communicated through multiple distinct modalities. However, an often-ignored channel of communication is posture. Recent research indicates that bodily posture plays an important role in the perception of emotion. However, research examining postural communication of emotion is limited by the variety of validated emotion poses and unknown cohesion of categorical and dimensional ratings. The present study addressed these limitations. Specifically, we examined individuals’ (1) categorization of emotion postures depicting 5 discrete emotions (joy, sadness, fear, anger, and disgust), (2) categorization of different poses depicting the same discrete emotion, and (3) ratings of valence and arousal for each emotion pose. Findings revealed that participants successfully categorized each posture as the target emotion, including disgust. Moreover, participants accurately identified multiple distinct poses within each emotion category. In addition to the categorical responses, dimensional ratings of valence and arousal revealed interesting overlap and distinctions between and within emotion categories. These findings provide the first evidence of an identifiable posture for disgust and instantiate the principle of equifinality of emotional communication through the inclusion of distinct poses within emotion categories. Additionally, the dimensional ratings corroborated the categorical data and provide further granularity for future researchers to consider in examining how distinct emotion poses are perceived. PMID:28559860

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

    Science.gov (United States)

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

    2017-01-01

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

  5. KEEFEKTIFAN PENDEKATAN PROBLEM SOLVING DAN PROBLEM POSING DENGAN SETTING KOOPERATIF DALAM PEMBELAJARAN MATEMATIKA

    Directory of Open Access Journals (Sweden)

    Widha Nur Shanti

    2015-05-01

    Full Text Available Penelitian ini bertujuan untuk mendeskripsikan keefektifan pendekatan pembelajaran (problem solving dengan setting kooperatif dan problem posing dengan setting kooperatif dan membandingkan keefektifan pendekatan problem posing dengan setting kooperatif dan pendekatan problem solving dengan setting kooperatif pada pembelajaran matematika ditinjau dari ketercapaian standar kompeten-si, kemampuan berpikir kritis, dan kecerdasan emosional siswa. Jenis penelitian ini adalah quasi experiment dengan pretest-posttest nonequivalent comparison-group design. Populasi sampelnya adalah siswa Kelas X SMA Negeri 1 Pengasih dan siswa Kelas X2 dan X3.Untuk menguji keefektifan pendekatan pembelajaran (problem solving dengan setting kooperatif dan problem posing dengan setting kooperatif, data dianalisis menggunakan uji one sample t-test. Untuk menguji bahwa pendekatan problem posing dengan setting kooperatif lebih efektif daripada pendekatan problem solving dengan setting kooperatif, data dianalisis menggunakan MANOVA yang dilanjutkan dengan uji t-Bonferroni. Hasil penelitian menunjukkan bahwa pendekatan pembelajaran (problem solving dengan setting kooperatif dan problem posing dengan setting kooperatif efektif dan pendekatan problem posing dengan setting kooperatif lebih efektif daripada pendekatan problem solving dengan setting kooperatif pada pembelajaran matematika ditinjau dari ketercapaian standar kompetensi, kemampuan berpikir kritis, dan kecerdasan emosional siswa. Kata Kunci: pendekatan problem solving dengan setting kooperatif, pendekatan problem posing dengan setting kooperatif, ketercapaian standar kompetensi, kemampuan berpikir kritis, kecerdasan emosional.   THE EFFECTIVENESS OF COOPERATIVE PROBLEM SOLVING AND COOPERATIVE PROBLEM POSING APPROACHES IN MATHEMATICS LEARNING Abstract This study aims to describe the effectiveness of the cooperative problem solving and cooperative problem posing approaches and the more effectiveness of the cooperative

  6. The Effect of Problem Solving and Problem Posing Models and Innate Ability to Students Achievement

    Directory of Open Access Journals (Sweden)

    Ratna Kartika Irawati

    2015-04-01

    Full Text Available Pengaruh Model Problem Solving dan Problem Posing serta Kemampuan Awal terhadap Hasil Belajar Siswa   Abstract: Chemistry concepts understanding features abstract quality and requires higher order thinking skills. Yet, the learning on chemistry has not boost the higher order thinking skills of the students. The use of the learning model of Problem Solving and Problem Posing in observing the innate ability of the student is expected to resolve the issue. This study aims to determine the learning model which is effective to improve the study of the student with different level of innate ability. This study used the quasi-experimental design. The research data used in this research is the quiz/test of the class which consist of 14 multiple choice questions and 5 essay questions. The data analysis used is ANOVA Two Ways. The results showed that Problem Posing is more effective to improve the student compared to Problem Solving, students with high level of innate ability have better outcomes in learning rather than the students with low level of innate ability after being applied with the Problem solving and Problem posing model, further, Problem Solving and Problem Posing is more suitable to be applied to the students with high level of innate ability. Key Words: problem solving, problem posing, higher order thinking skills, innate ability, learning outcomes   Abstrak: Pemahaman konsep-konsep kimia yang bersifat abstrak membutuhkan keterampilan berpikir tingkat tinggi. Pembelajaran kimia belum mendorong siswa melakukan keterampilan berpikir tingkat tinggi. Penggunaan model pembelajaran Problem Solving dan Problem Posing dengan memperhatikan kemampuan awal siswa diduga dapat mengatasi masalah tersebut. Penelitian ini bertujuan untuk mengetahui model pembelajaran yang efektif dalam meningkatkan hasil belajar dengan kemampuan awal siswa yang berbeda. Penelitian ini menggunakan rancangan eksperimen semu. Data penelitian menggunakan tes hasil belajar

  7. HEADS UP : Sensorimotor control of the head-neck system

    NARCIS (Netherlands)

    Forbes, P.A.

    2014-01-01

    Head-neck stabilization is inherently challenging even when stationary, requiring constant vigilance to counter the downward pull of gravity. It involves a highly complex biomechanical system comprised of a large mass (the head) balanced on top of seven vertebrae (the neck), that are in turn

  8. Evaluation of a video-based head motion tracking system for dedicated brain PET

    Science.gov (United States)

    Anishchenko, S.; Beylin, D.; Stepanov, P.; Stepanov, A.; Weinberg, I. N.; Schaeffer, S.; Zavarzin, V.; Shaposhnikov, D.; Smith, M. F.

    2015-03-01

    Unintentional head motion during Positron Emission Tomography (PET) data acquisition can degrade PET image quality and lead to artifacts. Poor patient compliance, head tremor, and coughing are examples of movement sources. Head motion due to patient non-compliance can be an issue with the rise of amyloid brain PET in dementia patients. To preserve PET image resolution and quantitative accuracy, head motion can be tracked and corrected in the image reconstruction algorithm. While fiducial markers can be used, a contactless approach is preferable. A video-based head motion tracking system for a dedicated portable brain PET scanner was developed. Four wide-angle cameras organized in two stereo pairs are used for capturing video of the patient's head during the PET data acquisition. Facial points are automatically tracked and used to determine the six degree of freedom head pose as a function of time. The presented work evaluated the newly designed tracking system using a head phantom and a moving American College of Radiology (ACR) phantom. The mean video-tracking error was 0.99±0.90 mm relative to the magnetic tracking device used as ground truth. Qualitative evaluation with the ACR phantom shows the advantage of the motion tracking application. The developed system is able to perform tracking with accuracy close to millimeter and can help to preserve resolution of brain PET images in presence of movements.

  9. Pose measurement method with six parameters for microassembly based on an optical micrometer

    Science.gov (United States)

    Ye, Xin; Wang, Qiang; Zhang, Zhi-jing; Sun, Yuan; Zhang, Xiao-feng

    2009-07-01

    This paper presents a new pose measurement method of microminiature parts that is capable of transforming one dimension (1D) contour size obtained by optical micrometer to three dimension (3D) data with six parameters for microassembly. Pose measurement is one of the most important processes for microminiature parts' alignment and insertion in microassembly. During the past few years, researchers have developed their microassembly systems focusing on visual identification to obtain two or three dimension data with no more than three parameters. Scanning electronic microscope (SEM), optical microscope, and stereomicroscope are applied in their systems. However, as structures of microminiature parts become increasingly complex, six parameters to represent their position and orientation are specifically needed. Firstly, The pose measurement model is established based on the introduction of measuring objects and measuring principle of optical micrometer. The measuring objects are microminiature parts with complex 3D structure. Two groups of two dimension (2D) data are gathered at two different measurement positions. Then part pose with 6 parameters is calculated, including 3 position parameters of feature point of the part and 3 orientation parameters of the part axis. Secondly, pose measurement process for a small shaft, vertical orientation determination, and position parameters obtaining are presented. 2D data is gathered by scanning the generatrix of the part, and valid data is extracted and saved in arrays. A vertical orientation criterion is proposed to determine whether the part is parallel to the Z-axis of the coordinate. If not, 2D data will be fixed into a linear equation using least square algorithm. Then orientation parameters are calculated. Center of Part End (CPE) is selected as feature point of the part, and its position parameters are extracted form two group of 2D data. Finally, a fast pose measurement device is developed and representative

  10. Reconstruction of head impacts in FIS World Cup alpine skiing.

    Science.gov (United States)

    Steenstrup, Sophie Elspeth; Mok, Kam-Ming; McIntosh, Andrew S; Bahr, Roald; Krosshaug, Tron

    2017-11-25

    Prior to the 2013/2014 season, the International Ski Federation (FIS) increased the helmet testing speed from 5.4 to 6.8 m/s for alpine downhill, super-G and giant slalom. Whether this increased testing speed reflects head impact velocities in real head injury situations on snow is unclear. We therefore investigated the injury mechanisms and gross head impact biomechanics in seven real head injury situations among World Cup (WC) alpine skiers. We analysed nine head impacts from seven head injury videos from the FIS Injury Surveillance System, throughout nine WC seasons (2006-2015) in detail. We used commercial video-based motion analysis software to estimate head impact kinematics in two dimensions, including directly preimpact and postimpact, from broadcast video. The sagittal plane angular movement of the head was also measured using angle measurement software. In seven of nine head impacts, the estimated normal to slope preimpact velocity was higher than the current FIS helmet rule of 6.8 m/s (mean 8.1 (±SD 0.6) m/s, range 1.9±0.8 to 12.1±0.4 m/s). The nine head impacts had a mean normal to slope velocity change of 9.3±1.0 m/s, range 5.2±1.1 to 13.5±1.3 m/s. There was a large change in sagittal plane angular velocity (mean 43.3±2.9 rad/s (range 21.2±1.5 to 64.2±3.0 rad/s)) during impact. The estimated normal to slope preimpact velocity was higher than the current FIS helmet rule of 6.8 m/s in seven of nine head impacts. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  11. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... to detect and identify any metal objects. In general, metal objects used in orthopedic surgery pose no ... units provide very high quality images for many types of exams. Older open MRI units may not ...

  12. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... surgery pose no risk during MRI. However, a recently placed artificial joint may require the use of ... maintain your position without movement as much as possible. You will usually be alone in the exam ...

  13. Magnetic Resonance Imaging (MRI) -- Head

    Medline Plus

    Full Text Available ... top of page What are the benefits vs. risks? Benefits MRI is a noninvasive imaging technique that ... than 30 minutes from the onset of symptoms. Risks The MRI examination poses almost no risk to ...

  14. Model-Based Real-Time Head Tracking

    Directory of Open Access Journals (Sweden)

    Ström Jacob

    2002-01-01

    Full Text Available This paper treats real-time tracking of a human head using an analysis by synthesis approach. The work is based on the Structure from Motion (SfM algorithm from Azarbayejani and Pentland (1995. We will analyze the convergence properties of the SfM algorithm for planar objects, and extend it to handle new points. The extended algorithm is then used for head tracking. The system tracks feature points in the image using a texture mapped three-dimensional model of the head. The texture is updated adaptively so that points in the ear region can be tracked when the user′s head is rotated far, allowing out-of-plane rotation of up to without losing track. The covariance of the - and the -coordinates are estimated and forwarded to the Kalman filter, making the tracker robust to occlusion. The system automatically detects tracking failure and reinitializes the algorithm using information gathered in the original initialization process.

  15. Oncogenic impact of human papilloma virus in head and neck cancer.

    LENUS (Irish Health Repository)

    Heffernan, C B

    2012-02-01

    There is considerable debate within the literature about the significance of human papilloma virus in head and neck squamous cell carcinoma, and its potential influence on the prevention, diagnosis, grading, treatment and prognosis of these cancers. Cigarette smoking and alcohol consumption have traditionally been cited as the main risk factors for head and neck cancers. However, human papilloma virus, normally associated with cervical and other genital carcinomas, has emerged as a possible key aetiological factor in head and neck squamous cell carcinoma, especially oropharyngeal cancers. These cancers pose a significant financial burden on health resources and are increasing in incidence. The recent introduction of vaccines targeted against human papilloma virus types 16 and 18, to prevent cervical cancer, has highlighted the need for ongoing research into the importance of human papilloma virus in head and neck squamous cell carcinoma.

  16. KEEFEKTIFAN PEMBELAJARAN BERBASIS MASALAH DAN PROBLEM POSING DITINJAU DARI KEMAMPUAN BERPIKIR LOGIS DAN KRITIS

    Directory of Open Access Journals (Sweden)

    Tantan Sutandi Nugraha

    2015-05-01

    Full Text Available Penelitian ini bertujuan mendeskripsikan keefektifan pembelajaran matematika berbasis masalah, problem posing, dan pendekatan konvensional serta perbandingan keefektifannya ditinjau dari kemampuan berpikir logis dan kritis. Jenis penelitian adalah quasi experiment dengan pretest-posttest with nonequivalent group design. Populasi penelitian adalah 240 siswa kelas VIII SMP Negeri 2 Ciamis. Tiga kelas diambil secara acak untuk sampel penelitian, kemudian ditentukan lagi secara acak kelas eksperimen pertama, kelas eksperimen kedua, dan kelas kontrol. Instrumen yang digunakan adalah tes kemampuan berpikir logis dan tes kemampuan berpikir kritis yang terdiri atas soal pretest dan posttest. Teknik analisis data meliputi t-one sample test untuk menguji keefektifan masing-masing pendekatan pembelajaran dan MANOVA untuk menguji perbedaannya yang dilanjutkan dengan uji  univariat. Semua uji menggunakan taraf signifikansi 5%. Hasil penelitian menunjukkan bahwa: (1 pembelajaran berbasis masalah dan problem posing keduanya efektif ditinjau dari kemampuan berpikir kritis tetapi tidak efektif ditinjau dari kemampuan berpikir logis sedangkan pembelajaran konvensional tidak efektif ditinjau dari kemampuan berpikir logis maupun kemampuan berpikir kritis; (2 ditinjau dari kemampuan berpikir logis, tidak ada perbedaan yang signifikan antara pembelajaran berbasis masalah dan problem posing tetapi keduanya lebih unggul dibandingkan pembelajaran konvensional sedangkan jika ditinjau dari kemampuan berpikir kritis, pembelajaran berbasis masalah lebih unggul dibandingkan pembelajaran problem posing dan pembelajaran konvensional serta pembelajaran problem posing lebih unggul dibandingkan pembelajaran konvensional. Kata Kunci: pembelajaran berbasis masalah, problem posing, kemampuan berpikir logis, kemampuan berpikir kritis   THE EFFECTIVENESS OF PROBLEM-BASED LEARNING AND PROBLEM POSING IN TERM OF THE LOGICAL AND CRITICAL THINKING ABILITY Abstract This study aims to

  17. Womanhood in Bessie Head's fiction

    African Journals Online (AJOL)

    confronted with gender discrimination in addition ;to the racial and ethnic marginality she had suffered since childhood. When the discovery of. Margaret's Basarwa origins culminate in the decision to get rid of her, Head points to the multiplicity of her problems. Head demonstrates that Margaret's womanhood comes into ...

  18. Analytical modelling of soccer heading

    Indian Academy of Sciences (India)

    Heading occur frequently in soccer games and studies have shown that repetitive heading of the soccer ball could result in degeneration of brain cells and lead to mild traumatic brain injury. This study proposes a two degree-of-freedom linear mathematical model to study the impact of the soccer ball on the brain. The model ...

  19. The head-mounted microscope.

    Science.gov (United States)

    Chen, Ting; Dailey, Seth H; Naze, Sawyer A; Jiang, Jack J

    2012-04-01

    Microsurgical equipment has greatly advanced since the inception of the microscope into the operating room. These advancements have allowed for superior surgical precision and better post-operative results. This study focuses on the use of the Leica HM500 head-mounted microscope for the operating phonosurgeon. The head-mounted microscope has an optical zoom from 2× to 9× and provides a working distance from 300 mm to 700 mm. The headpiece, with its articulated eyepieces, adjusts easily to head shape and circumference, and offers a focus function, which is either automatic or manually controlled. We performed five microlaryngoscopic operations utilizing the head-mounted microscope with successful results. By creating a more ergonomically favorable operating posture, a surgeon may be able to obtain greater precision and success in phonomicrosurgery. Phonomicrosurgery requires the precise manipulation of long-handled cantilevered instruments through the narrow bore of a laryngoscope. The head-mounted microscope shortens the working distance compared with a stand microscope, thereby increasing arm stability, which may improve surgical precision. Also, the head-mounted design permits flexibility in head position, enabling operator comfort, and delaying musculoskeletal fatigue. A head-mounted microscope decreases the working distance and provides better ergonomics in laryngoscopic microsurgery. These advances provide the potential to promote precision in phonomicrosurgery. Copyright © 2011 The American Laryngological, Rhinological, and Otological Society, Inc.

  20. Muscle utilization patterns vary by skill levels of the practitioners across specific yoga poses (asanas).

    Science.gov (United States)

    Ni, Meng; Mooney, Kiersten; Balachandran, Anoop; Richards, Luca; Harriell, Kysha; Signorile, Joseph F

    2014-08-01

    To compare muscle activation patterns in 14 dominant side muscles during different yoga poses across three skill levels. Mixed repeated-measures descriptive study. University neuromuscular research laboratory, Miami, US. A group of 36 yoga practitioners (9 M/27 F; mean ± SD, 31.6 ± 12.6 years) with at least 3 months yoga practice experience. Each of the 11 surya namaskar poses A and B was performed separately for 15s and the surface electromyography for 14 muscles were recorded. Normalized root mean square of the electromyographic signal (NrmsEMG) for 14 muscles (5 upper body, 4 trunk, 5 lower body). There were significant main effects of pose for all fourteen muscles except middle trapezius (phead, anterior deltoid, medial deltoid, upper rectus abdominis and gastrocnemius lateralis; p<.05). Post hoc analyses using Bonferroni comparisons indicated that different poses activated specific muscle groups; however, this varied by skill level. Our results indicate that different poses can produce specific muscle activation patterns which may vary due to practitioners' skill levels. This information can be used in designing rehabilitation and training programs and for cuing during yoga training. Copyright © 2014 Elsevier Ltd. All rights reserved.