WorldWideScience

Sample records for pose estimation output

  1. Statistical Model-Based Face Pose Estimation

    Institute of Scientific and Technical Information of China (English)

    GE Xinliang; YANG Jie; LI Feng; WANG Huahua

    2007-01-01

    A robust face pose estimation approach is proposed by using face shape statistical model approach and pose parameters are represented by trigonometric functions. The face shape statistical model is firstly built by analyzing the face shapes from different people under varying poses. The shape alignment is vital in the process of building the statistical model. Then, six trigonometric functions are employed to represent the face pose parameters. Lastly, the mapping function is constructed between face image and face pose by linearly relating different parameters. The proposed approach is able to estimate different face poses using a few face training samples. Experimental results are provided to demonstrate its efficiency and accuracy.

  2. 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.

  3. Tridimensional pose estimation of a person head

    International Nuclear Information System (INIS)

    Perez Berenguer, Elisa; Soria, Carlos; Nasisi, Oscar; Mut, Vicente

    2007-01-01

    In this work, we present a method for estimating 3-D motion parameters; this method provides an alternative way for 3D head pose estimation from image sequence in the current computer vision literature. This method is robust over extended sequences and large head motions and accurately extracts the orientation angles of head from a single view. Experimental results show that this tracking system works well for development a human-computer interface for people that possess severe motor incapacity

  4. Relative Pose Estimation Algorithm with Gyroscope Sensor

    Directory of Open Access Journals (Sweden)

    Shanshan Wei

    2016-01-01

    Full Text Available This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter. Our contributions are in two aspects. (1 Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope sensor and image data. (2 Our S2fM algorithm is efficient and suitable for smart devices. Experimental results validate efficiency of the proposed S2fM algorithm.

  5. 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.

  6. Head Pose Estimation from Passive Stereo Images

    DEFF Research Database (Denmark)

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

    2009-01-01

    function. Our algorithm incorporates 2D and 3D cues to make the system robust to low-quality range images acquired by passive stereo systems. It handles large pose variations (of ±90 ° yaw and ±45 ° pitch rotation) and facial variations due to expressions or accessories. For a maximally allowed error of 30...

  7. 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.

  8. Real-Time Head Pose Estimation on Mobile Platforms

    Directory of Open Access Journals (Sweden)

    Jianfeng Ren

    2010-06-01

    Full Text Available Many computer vision applications such as augmented reality require head pose estimation. As far as the real-time implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to satisfy real-time constraints while maintaining reasonable head pose estimation accuracy. The introduced head pose estimation approach in this paper is an attempt to meet this objective. The approach consists of the following components: Viola-Jones face detection, color-based face tracking using an online calibration procedure, and head pose estimation using Hu moment features and Fisher linear discriminant. Experimental results running on an actual mobile device are reported exhibiting both the real- time and accuracy aspects of the developed approach.

  9. 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.

  10. Pose estimation for mobile robots working on turbine blade

    Energy Technology Data Exchange (ETDEWEB)

    Ma, X.D.; Chen, Q.; Liu, J.J.; Sun, Z.G.; Zhang, W.Z. [Tsinghua Univ., Beijing (China). Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering

    2009-03-11

    This paper discussed a features point detection and matching task technique for mobile robots used in wind turbine blade applications. The vision-based scheme used visual information from the robot's surrounding environment to match successive image frames. An improved pose estimation algorithm based on a scale invariant feature transform (SIFT) was developed to consider the characteristics of local images of turbine blades, pose estimation problems, and conditions. The method included a pre-subsampling technique for reducing computation and bidirectional matching for improving precision. A random sample consensus (RANSAC) method was used to estimate the robot's pose. Pose estimation conditions included a wide pose range; the distance between neighbouring blades; and mechanical, electromagnetic, and optical disturbances. An experimental platform was used to demonstrate the validity of the proposed algorithm. 20 refs., 6 figs.

  11. Pose estimation of industrial objects towards robot operation

    Science.gov (United States)

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

    2017-10-01

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

  12. 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.

  13. Fast human pose estimation using 3D Zernike descriptors

    Science.gov (United States)

    Berjón, Daniel; Morán, Francisco

    2012-03-01

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

  14. Robust head pose estimation via supervised manifold learning.

    Science.gov (United States)

    Wang, Chao; Song, Xubo

    2014-05-01

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

  15. Full Body Pose Estimation During Occlusion using Multiple Cameras

    DEFF Research Database (Denmark)

    Fihl, Preben; Cosar, Serhan

    people is a very challenging problem for methods based on pictorials structure as for any other monocular pose estimation method. In this report we present work on a multi-view approach based on pictorial structures that integrate low level information from multiple calibrated cameras to improve the 2D...

  16. 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.

  17. Pose Estimation of Interacting People using Pictorial Structures

    DEFF Research Database (Denmark)

    Fihl, Preben; Moeslund, Thomas B.

    2010-01-01

    Pose estimation of people have had great progress in recent years but so far research has dealt with single persons. In this paper we address some of the challenges that arise when doing pose estimation of interacting people. We build on the pictorial structures framework and make important...... 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...... a foreground mask for possible occluded body parts and then applying extra strong kinematic constraints to find the true occluded body parts. The effect of applying our two contributions are show through both qualitative and quantitative tests and show a clear improvement on the ability to correctly localize...

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

    Science.gov (United States)

    Fu, Tai; Sun, Xiangyi

    2017-02-01

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

  19. Relative Pose Estimation and Accuracy Verification of Spherical Panoramic Image

    Directory of Open Access Journals (Sweden)

    XIE Donghai

    2017-11-01

    Full Text Available This paper improves the method of the traditional 5-point relative pose estimation algorithm, and proposes a relative pose estimation algorithm which is suitable for spherical panoramic images. The algorithm firstly computes the essential matrix, then decomposes the essential matrix to obtain the rotation matrix and the translation vector using SVD, and finally the reconstructed three-dimensional points are used to eliminate the error solution. The innovation of the algorithm lies the derivation of panorama epipolar formula and the use of the spherical distance from the point to the epipolar plane as the error term for the spherical panorama co-planarity function. The simulation experiment shows that when the random noise of the image feature points is within the range of pixel, the error of the three Euler angles is about 0.1°, and the error between the relative translational displacement and the simulated value is about 1.5°. The result of the experiment using the data obtained by the vehicle panorama camera and the POS shows that:the error of the roll angle and pitch angle can be within 0.2°, the error of the heading angle can be within 0.4°, and the error between the relative translational displacement and the POS can be within 2°. The result of our relative pose estimation algorithm is used to generate the spherical panoramic epipolar images, then we extract the key points between the spherical panoramic images and calculate the errors in the column direction. The result shows that the errors is less than 1 pixel.

  20. Gaussian particle filter based pose and motion estimation

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Determination of relative three-dimensional (3D) position, orientation, and relative motion between two reference frames is an important problem in robotic guidance, manipulation, and assembly as well as in other fields such as photogrammetry.A solution to pose and motion estimation problem that uses two-dimensional (2D) intensity images from a single camera is desirable for real-time applications. The difficulty in performing this measurement is that the process of projecting 3D object features to 2D images is a nonlinear transformation. In this paper, the 3D transformation is modeled as a nonlinear stochastic system with the state estimation providing six degrees-of-freedom motion and position values, using line features in image plane as measuring inputs and dual quaternion to represent both rotation and translation in a unified notation. A filtering method called the Gaussian particle filter (GPF) based on the particle filtering concept is presented for 3D pose and motion estimation of a moving target from monocular image sequences. The method has been implemented with simulated data, and simulation results are provided along with comparisons to the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) to show the relative advantages of the GPF. Simulation results showed that GPF is a superior alternative to EKF and UKF.

  1. 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.

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

    Science.gov (United States)

    Gessert, Nils; Schlüter, Matthias; Schlaefer, Alexander

    2018-05-01

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

  3. Methods of RVD object pose estimation and experiments

    Science.gov (United States)

    Shang, Yang; He, Yan; Wang, Weihua; Yu, Qifeng

    2007-11-01

    Methods of measuring a RVD (rendezvous and docking) cooperative object's pose from monocular and binocular images respectively are presented. The methods solve the initial values first and optimize the object pose parameters by bundle adjustment. In the disturbance-rejecting binocular method, chosen measurement system parameters of one camera's exterior parameters are modified simultaneously. The methods need three or more cooperative target points to measure the object's pose accurately. Experimental data show that the methods converge quickly and stably, provide accurate results and do not need accurate initial values. Even when the chosen measurement system parameters are subjected to some amount of disturbance, the binocular method manages to provide fairly accurate results.

  4. 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

  5. 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 wi....... In addition, the models are applied in a pose estimation application, evaluated with 37 different scenes with 61 unique object poses. The pose estimation results show a mean translation error on 4.97 mm and a mean rotation error on 3.38 degrees....

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

    Science.gov (United States)

    Setthawong, Pisal; Vannija, Vajirasak

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

  9. 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

    Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...

  10. 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.

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

    Science.gov (United States)

    Tamjidi, Amirhossein; Ye, Cang

    2012-06-01

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

  12. 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.

  13. 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.

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

    Science.gov (United States)

    Zhou, Jian; Zhang, Xiao-hu

    2011-08-01

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

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

    Science.gov (United States)

    Zhu, Aichun; Wang, Tian; Snoussi, Hichem

    2018-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Aichun Zhu

    2018-03-01

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

  17. 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

    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......, stereo reconstruction and action recognition. As a basis for the machine vision and learning involved, pose estimation is used for deriving object positions and orientations and thus target frames for robot execution. Our contribution introduces and applies a novel benchmark for typical multi...

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

    KAUST Repository

    Suliman, Mohamed Abdalla Elhag; Ballal, Tarig; Al-Naffouri, Tareq Y.

    2016-01-01

    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.

  19. 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.

  20. A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

    Directory of Open Access Journals (Sweden)

    Pengfei Sun

    Full Text Available Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI, an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.

  1. Simulation-Based Optimization of Camera Placement in the Context of Industrial Pose Estimation

    DEFF Research Database (Denmark)

    Jørgensen, Troels Bo; Iversen, Thorbjørn Mosekjær; Lindvig, Anders Prier

    2018-01-01

    In this paper, we optimize the placement of a camera in simulation in order to achieve a high success rate for a pose estimation problem. This is achieved by simulating 2D images from a stereo camera in a virtual scene. The stereo images are then used to generate 3D point clouds based on two diff...

  2. 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

  3. 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...

  4. 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...

  5. 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...

  6. Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

    Science.gov (United States)

    Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

    2017-12-01

    Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

  7. 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)......). New range images are then projected to this model giving the low dimensional coordinates of the object pose in an efficient manner. The range images are acquired by a state of the art SwissRanger SR-3000 camera making the projection process work in real-time....

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

    Science.gov (United States)

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

    2007-04-01

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

  9. 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.

  10. Marker detection evaluation by phantom and cadaver experiments for C-arm pose estimation pattern

    Science.gov (United States)

    Steger, Teena; Hoßbach, Martin; Wesarg, Stefan

    2013-03-01

    C-arm fluoroscopy is used for guidance during several clinical exams, e.g. in bronchoscopy to locate the bronchoscope inside the airways. Unfortunately, these images provide only 2D information. However, if the C-arm pose is known, it can be used to overlay the intrainterventional fluoroscopy images with 3D visualizations of airways, acquired from preinterventional CT images. Thus, the physician's view is enhanced and localization of the instrument at the correct position inside the bronchial tree is facilitated. We present a novel method for C-arm pose estimation introducing a marker-based pattern, which is placed on the patient table. The steel markers form a pattern, allowing to deduce the C-arm pose by use of the projective invariant cross-ratio. Simulations show that the C-arm pose estimation is reliable and accurate for translations inside an imaging area of 30 cm x 50 cm and rotations up to 30°. Mean error values are 0.33 mm in 3D space and 0.48 px in the 2D imaging plane. First tests on C-arm images resulted in similarly compelling accuracy values and high reliability in an imaging area of 30 cm x 42.5 cm. Even in the presence of interfering structures, tested both with anatomy phantoms and a turkey cadaver, high success rates over 90% and fully satisfying execution times below 4 sec for 1024 px × 1024 px images could be achieved.

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

    Science.gov (United States)

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

    2015-02-01

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

  12. 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.

  13. 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

  14. 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.

  15. 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...... of silhouette samples of different noise levels and compare with the selected feature on a public dataset: Human Eva dataset....

  16. 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.

  17. Estimation of G-renewal process parameters as an ill-posed inverse problem

    International Nuclear Information System (INIS)

    Krivtsov, V.; Yevkin, O.

    2013-01-01

    Statistical estimation of G-renewal process parameters is an important estimation problem, which has been considered by many authors. We view this problem from the standpoint of a mathematically ill-posed, inverse problem (the solution is not unique and/or is sensitive to statistical error) and propose a regularization approach specifically suited to the G-renewal process. Regardless of the estimation method, the respective objective function usually involves parameters of the underlying life-time distribution and simultaneously the restoration parameter. In this paper, we propose to regularize the problem by decoupling the estimation of the aforementioned parameters. Using a simulation study, we show that the resulting estimation/extrapolation accuracy of the proposed method is considerably higher than that of the existing methods

  18. 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.

  19. Regularization parameter selection methods for ill-posed Poisson maximum likelihood estimation

    International Nuclear Information System (INIS)

    Bardsley, Johnathan M; Goldes, John

    2009-01-01

    In image processing applications, image intensity is often measured via the counting of incident photons emitted by the object of interest. In such cases, image data noise is accurately modeled by a Poisson distribution. This motivates the use of Poisson maximum likelihood estimation for image reconstruction. However, when the underlying model equation is ill-posed, regularization is needed. Regularized Poisson likelihood estimation has been studied extensively by the authors, though a problem of high importance remains: the choice of the regularization parameter. We will present three statistically motivated methods for choosing the regularization parameter, and numerical examples will be presented to illustrate their effectiveness

  20. 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.

  1. 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.

  2. 3D head pose estimation and tracking using particle filtering and ICP algorithm

    KAUST Repository

    Ben Ghorbel, Mahdi; Baklouti, Malek; Couvet, Serge

    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.

  3. Segmentation, classification, and pose estimation of military vehicles in low resolution laser radar images

    Science.gov (United States)

    Neulist, Joerg; Armbruster, Walter

    2005-05-01

    Model-based object recognition in range imagery typically involves matching the image data to the expected model data for each feasible model and pose hypothesis. Since the matching procedure is computationally expensive, the key to efficient object recognition is the reduction of the set of feasible hypotheses. This is particularly important for military vehicles, which may consist of several large moving parts such as the hull, turret, and gun of a tank, and hence require an eight or higher dimensional pose space to be searched. The presented paper outlines techniques for reducing the set of feasible hypotheses based on an estimation of target dimensions and orientation. Furthermore, the presence of a turret and a main gun and their orientations are determined. The vehicle parts dimensions as well as their error estimates restrict the number of model hypotheses whereas the position and orientation estimates and their error bounds reduce the number of pose hypotheses needing to be verified. The techniques are applied to several hundred laser radar images of eight different military vehicles with various part classifications and orientations. On-target resolution in azimuth, elevation and range is about 30 cm. The range images contain up to 20% dropouts due to atmospheric absorption. Additionally some target retro-reflectors produce outliers due to signal crosstalk. The presented algorithms are extremely robust with respect to these and other error sources. The hypothesis space for hull orientation is reduced to about 5 degrees as is the error for turret rotation and gun elevation, provided the main gun is visible.

  4. 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....

  5. Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

    Science.gov (United States)

    Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

    2007-03-01

    We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

  6. Comparison of different methods for gender estimation from face image of various poses

    Science.gov (United States)

    Ishii, Yohei; Hongo, Hitoshi; Niwa, Yoshinori; Yamamoto, Kazuhiko

    2003-04-01

    Recently, gender estimation from face images has been studied for frontal facial images. However, it is difficult to obtain such facial images constantly in the case of application systems for security, surveillance and marketing research. In order to build such systems, a method is required to estimate gender from the image of various facial poses. In this paper, three different classifiers are compared in appearance-based gender estimation, which use four directional features (FDF). The classifiers are linear discriminant analysis (LDA), Support Vector Machines (SVMs) and Sparse Network of Winnows (SNoW). Face images used for experiments were obtained from 35 viewpoints. The direction of viewpoints varied +/-45 degrees horizontally, +/-30 degrees vertically at 15 degree intervals respectively. Although LDA showed the best performance for frontal facial images, SVM with Gaussian kernel was found the best performance (86.0%) for the facial images of 35 viewpoints. It is considered that SVM with Gaussian kernel is robust to changes in viewpoint when estimating gender from these results. Furthermore, the estimation rate was quite close to the average estimation rate at 35 viewpoints respectively. It is supposed that the methods are reasonable to estimate gender within the range of experimented viewpoints by learning face images from multiple directions by one class.

  7. Cardiac output estimation using pulmonary mechanics in mechanically ventilated patients

    Directory of Open Access Journals (Sweden)

    Hann Christopher E

    2010-11-01

    Full Text Available Abstract The application of positive end expiratory pressure (PEEP in mechanically ventilated (MV patients with acute respiratory distress syndrome (ARDS decreases cardiac output (CO. Accurate measurement of CO is highly invasive and is not ideal for all MV critically ill patients. However, the link between the PEEP used in MV, and CO provides an opportunity to assess CO via MV therapy and other existing measurements, creating a CO measure without further invasiveness. This paper examines combining models of diffusion resistance and lung mechanics, to help predict CO changes due to PEEP. The CO estimator uses an initial measurement of pulmonary shunt, and estimations of shunt changes due to PEEP to predict CO at different levels of PEEP. Inputs to the cardiac model are the PV loops from the ventilator, as well as the oxygen saturation values using known respiratory inspired oxygen content. The outputs are estimates of pulmonary shunt and CO changes due to changes in applied PEEP. Data from two published studies are used to assess and initially validate this model. The model shows the effect on oxygenation due to decreased CO and decreased shunt, resulting from increased PEEP. It concludes that there is a trade off on oxygenation parameters. More clinically importantly, the model also examines how the rate of CO drop with increased PEEP can be used as a method to determine optimal PEEP, which may be used to optimise MV therapy with respect to the gas exchange achieved, as well as accounting for the impact on the cardiovascular system and its management.

  8. An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation

    Science.gov (United States)

    He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

    2015-01-01

    Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions. PMID:26184191

  9. Hand Pose Estimation by Fusion of Inertial and Magnetic Sensing Aided by a Permanent Magnet.

    Science.gov (United States)

    Kortier, Henk G; Antonsson, Jacob; Schepers, H Martin; Gustafsson, Fredrik; Veltink, Peter H

    2015-09-01

    Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but does not provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3-D magnetometers and 3-D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended Kalman Filter is presented to fuse estimates obtained from inertial sensors with magnetic updates such that the position and orientation between the human hand and trunk as well as the global trunk orientation can be estimated robustly. This has been demonstrated in multiple experiments in which various hand tasks were performed. The most complex task in which simultaneous movements of both trunk and hand were performed resulted in an average rms position difference with an optical reference system of 19.7±2.2 mm whereas the relative trunk-hand and global trunk orientation error was 2.3±0.9 and 8.6±8.7 deg respectively.

  10. Estimation of international output-energy relation. Effects of alternative output measures

    International Nuclear Information System (INIS)

    Shrestha, R.M.

    2000-01-01

    This paper analyzes the output-energy relationship with alternative measures of output and energy. Our analysis rejects the hypothesis of non-diminishing returns to energy consumption when GDP at purchasing power parities is used as the output measure unlike the case with GNP at market exchange rates. This finding also holds when energy input includes the usage of both commercial and traditional fuels. 13 refs

  11. Automated pose estimation of objects using multiple ID devices for handling and maintenance task in nuclear fusion reactor

    International Nuclear Information System (INIS)

    Umetani, Tomohiro; Morioka, Jun-ichi; Tamura, Yuichi; Inoue, Kenji; Arai, Tatsuo; Mae, Yasusi

    2011-01-01

    This paper describes a method for the automated estimation of three-dimensional pose (position and orientation) of objects by autonomous robots, using multiple identification (ID) devices. Our goal is to estimate the object pose for assembly or maintenance tasks in a real nuclear fusion reactor system, with autonomous robots cooperating in a virtual assembly system. The method estimates the three-dimensional pose for autonomous robots. This paper discusses a method of motion generation for ID acquisition using the sensory data acquired by the measurement system attached to the robots and from the environment. Experimental results show the feasibility of the proposed method. (author)

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

    NARCIS (Netherlands)

    Hofmann, K.M.; Gavrilla, 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

  13. Camera-pose estimation via projective Newton optimization on the manifold.

    Science.gov (United States)

    Sarkis, Michel; Diepold, Klaus

    2012-04-01

    Determining the pose of a moving camera is an important task in computer vision. In this paper, we derive a projective Newton algorithm on the manifold to refine the pose estimate of a camera. The main idea is to benefit from the fact that the 3-D rigid motion is described by the special Euclidean group, which is a Riemannian manifold. The latter is equipped with a tangent space defined by the corresponding Lie algebra. This enables us to compute the optimization direction, i.e., the gradient and the Hessian, at each iteration of the projective Newton scheme on the tangent space of the manifold. Then, the motion is updated by projecting back the variables on the manifold itself. We also derive another version of the algorithm that employs homeomorphic parameterization to the special Euclidean group. We test the algorithm on several simulated and real image data sets. Compared with the standard Newton minimization scheme, we are now able to obtain the full numerical formula of the Hessian with a 60% decrease in computational complexity. Compared with Levenberg-Marquardt, the results obtained are more accurate while having a rather similar complexity.

  14. 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.

  15. 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.

  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

    approaches which have been proposed to comply with these requirements. We report a comparison of the most promising methods for multi-view human action recognition using two publicly available datasets: the INRIA Xmas Motion Acquisition Sequences (IXMAS) Multi-View Human Action Dataset, and the i3DPost Multi......–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......-View Human Action and Interaction Dataset. To compare the proposed methods, we give a qualitative assessment of methods which cannot be compared quantitatively, and analyze some prominent 3D pose estimation techniques for application, where not only the performed action needs to be identified but a more...

  17. 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.

  18. Structural Estimation of the Output Gap: A Bayesian DSGE Approach for the U.S. Economy

    OpenAIRE

    Yasuo Hirose; Saori Naganuma

    2007-01-01

    We estimate the output gap that is consistent with a fully specified DSGE model. Given the structural parameters estimated using Bayesian methods, we estimate the output gap that is defined as a deviation of output from its flexible-price equilibrium. Our output gap illustrates the U.S. business cycles well, compared with other estimates. We find that the main source of the output gap movements is the demand shocks, but that the productivity shocks contributed to the stable output gap in the ...

  19. 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.

  20. 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.

  1. Estimation de pose omnidirectionnelle dans un contexte de réalité augmentée

    OpenAIRE

    Poirier, Stéphane

    2012-01-01

    Estimer la pose de la caméra est un défi fondamental en réalité augmentée et permet la superposition d’un modèle à la réalité. Estimer précisément la pose est souvent critique en ingénierie d’infrastructures. Les images omnidirectionnelles ont un champ de vision supérieur aux images planaires communément utilisées en RA. Cette propriété peut bénéficier à l’estimation de la pose. Or, aucun travail ne présente de résultats montrant clairement un gain de précision. Notre objectif est de quantifi...

  2. 3D pose estimation and motion analysis of the articulated human hand-forearm limb in an industrial production environment

    Science.gov (United States)

    Hahn, Markus; Barrois, Björn; Krüger, Lars; Wöhler, Christian; Sagerer, Gerhard; Kummert, Franz

    2010-09-01

    This study introduces an approach to model-based 3D pose estimation and instantaneous motion analysis of the human hand-forearm limb in the application context of safe human-robot interaction. 3D pose estimation is performed using two approaches: The Multiocular Contracting Curve Density (MOCCD) algorithm is a top-down technique based on pixel statistics around a contour model projected into the images from several cameras. The Iterative Closest Point (ICP) algorithm is a bottom-up approach which uses a motion-attributed 3D point cloud to estimate the object pose. Due to their orthogonal properties, a fusion of these algorithms is shown to be favorable. The fusion is performed by a weighted combination of the extracted pose parameters in an iterative manner. The analysis of object motion is based on the pose estimation result and the motion-attributed 3D points belonging to the hand-forearm limb using an extended constraint-line approach which does not rely on any temporal filtering. A further refinement is obtained using the Shape Flow algorithm, a temporal extension of the MOCCD approach, which estimates the temporal pose derivative based on the current and the two preceding images, corresponding to temporal filtering with a short response time of two or at most three frames. Combining the results of the two motion estimation stages provides information about the instantaneous motion properties of the object. Experimental investigations are performed on real-world image sequences displaying several test persons performing different working actions typically occurring in an industrial production scenario. In all example scenes, the background is cluttered, and the test persons wear various kinds of clothes. For evaluation, independently obtained ground truth data are used. [Figure not available: see fulltext.

  3. 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.

  4. Joint Angle and Frequency Estimation Using Multiple-Delay Output Based on ESPRIT

    Science.gov (United States)

    Xudong, Wang

    2010-12-01

    This paper presents a novel ESPRIT algorithm-based joint angle and frequency estimation using multiple-delay output (MDJAFE). The algorithm can estimate the joint angles and frequencies, since the use of multiple output makes the estimation accuracy greatly improved when compared with a conventional algorithm. The useful behavior of the proposed algorithm is verified by simulations.

  5. Head pose estimation from a 2D face image using 3D face morphing with depth parameters.

    Science.gov (United States)

    Kong, Seong G; Mbouna, Ralph Oyini

    2015-06-01

    This paper presents estimation of head pose angles from a single 2D face image using a 3D face model morphed from a reference face model. A reference model refers to a 3D face of a person of the same ethnicity and gender as the query subject. The proposed scheme minimizes the disparity between the two sets of prominent facial features on the query face image and the corresponding points on the 3D face model to estimate the head pose angles. The 3D face model used is morphed from a reference model to be more specific to the query face in terms of the depth error at the feature points. The morphing process produces a 3D face model more specific to the query image when multiple 2D face images of the query subject are available for training. The proposed morphing process is computationally efficient since the depth of a 3D face model is adjusted by a scalar depth parameter at feature points. Optimal depth parameters are found by minimizing the disparity between the 2D features of the query face image and the corresponding features on the morphed 3D model projected onto 2D space. The proposed head pose estimation technique was evaluated on two benchmarking databases: 1) the USF Human-ID database for depth estimation and 2) the Pointing'04 database for head pose estimation. Experiment results demonstrate that head pose estimation errors in nodding and shaking angles are as low as 7.93° and 4.65° on average for a single 2D input face image.

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

    KAUST Repository

    Heili, Alexandre; Varadarajan, Jagannadan; Ghanem, Bernard; Ahuja, Narendra; Odobez, Jean-Marc

    2014-01-01

    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

  7. 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...

  8. Estimation of Potential GDP and output Gap. Comparative Perspective

    Directory of Open Access Journals (Sweden)

    Dorin Măntescu

    2014-08-01

    Full Text Available The purpose of the analysis is to assess the impact of the crisis on the potential output and output gaps, to study their evolution by using a comparative approach for a sample of EU countries that were in majority included recently in financial assistance and macroeconomic adjustment programmes. The potential GDP growth rates calculated using the Cobb Douglas production function and Hodrick-Prescott methodology, decelerated substantially across the board in the countries studied once the international economic and financial crisis hit, recording even negative rates of growth in Cyprus, Greece, Portugal, Italy and Spain. In addition to the specific factors that characterise each country, there is a series of common features that will affect the developments of the potential GDP on a long-term basis, such as the increase of global risk aversion correlated with the reduction of the banking exposures, the slow economic recovery in the EU, and last but not least the incoming ageing process, which will exert an additional negative impact on the growth potential of the EU member states. The article makes a series of economic policy recommendations to promote key measures aiming to increase the flexibility of the goods, services, and labour markets, to improve the prioritisation of public expenditures especially capital spending, and to improve the management of the public assets including real estate and public buildings by promoting a mix of measures including privatisation, monetisation and a wider involvement of the private sector in their management.

  9. 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.

  10. Neuro-fuzzy model for estimating race and gender from geometric distances of human face across pose

    Science.gov (United States)

    Nanaa, K.; Rahman, M. N. A.; Rizon, M.; Mohamad, F. S.; Mamat, M.

    2018-03-01

    Classifying human face based on race and gender is a vital process in face recognition. It contributes to an index database and eases 3D synthesis of the human face. Identifying race and gender based on intrinsic factor is problematic, which is more fitting to utilizing nonlinear model for estimating process. In this paper, we aim to estimate race and gender in varied head pose. For this purpose, we collect dataset from PICS and CAS-PEAL databases, detect the landmarks and rotate them to the frontal pose. After geometric distances are calculated, all of distance values will be normalized. Implementation is carried out by using Neural Network Model and Fuzzy Logic Model. These models are combined by using Adaptive Neuro-Fuzzy Model. The experimental results showed that the optimization of address fuzzy membership. Model gives a better assessment rate and found that estimating race contributing to a more accurate gender assessment.

  11. 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.

  12. Estimation of the Maximum Output Power of Double-Clad Photonic Crystal Fiber Laser

    International Nuclear Information System (INIS)

    Chen Yue-E; Wang Yong; Qu Xi-Long

    2012-01-01

    Compared with traditional optical fiber lasers, double-clad photonic crystal fiber (PCF) lasers have larger surface-area-to-volume ratios. With an increase of output power, thermal effects may severely restrict output power and deteriorate beam quality of fiber lasers. We utilize the heat-conduction equations to estimate the maximum output power of a double-clad PCF laser under natural-convection, air-cooling, and water-cooling conditions in terms of a certain surface-volume heat ratio of the PCF. The thermal effects hence define an upper power limit of double-clad PCF lasers when scaling output power. (fundamental areas of phenomenology(including applications))

  13. Estimation of the 24-h urinary protein excretion based on the estimated urinary creatinine output.

    Science.gov (United States)

    Ubukata, Masamitsu; Takei, Takashi; Nitta, Kosaku

    2016-06-01

    The urinary protein/creatinine ratio [Up/Ucr (g/gCr)] has been used in the clinical management of patients with chronic kidney disease (CKD). However, a discrepancy is often noted between the Up/Ucr and 24-h urinary protein excretion [24hUp (g/day)] in patients with extremes of muscle mass. We examined devised a method for precise estimation of the 24-h urinary protein excretion (E-24hUp) based on estimation of 24-h urinary creatinine output (E-24hCr). Three parameters, spot Up/Ucr, 24hUP and E-24hUp (=Up/Ucr × E-24hCr), were determined in 116 adult patients with CKD. The correlations among the groups were analyzed. There was a significant correlation between the Up/Ucr and 24hUp (p high urinary protein group (>3.5 g/day). There was a significant correlation between the Up/Ucr and 24hUp in the low (p = 0.04) and high urinary protein (p = 0.01) groups, whereas the correlation coefficient was lower in the intermediate urinary protein (p = 0.07) group. Thus, we found a significant correlation between 24hUp and E-24hUp in the study population overall (p high urinary protein group (p < 0.001). We conclude that a poor correlation exists between the Up/Ucr and 24hUp in patients with intermediate urinary protein excretion levels. The recommended parameter for monitoring proteinuria in such patients may be the E-24hUp, which is calculated using the E-24hCr.

  14. Pose and Motion Estimation Using Dual Quaternion-Based Extended Kalman Filtering

    Energy Technology Data Exchange (ETDEWEB)

    Goddard, J.S.; Abidi, M.A.

    1998-06-01

    A solution to the remote three-dimensional (3-D) measurement problem is presented for a dynamic system given a sequence of two-dimensional (2-D) intensity images of a moving object. The 3-D transformation is modeled as a nonlinear stochastic system with the state estimate providing the six-degree-of-freedom motion and position values as well as structure. The stochastic model uses the iterated extended Kalman filter (IEKF) as a nonlinear estimator and a screw representation of the 3-D transformation based on dual quaternions. Dual quaternions, whose elements are dual numbers, provide a means to represent both rotation and translation in a unified notation. Linear object features, represented as dual vectors, are transformed using the dual quaternion transformation and are then projected to linear features in the image plane. The method has been implemented and tested with both simulated and actual experimental data. Simulation results are provided, along with comparisons to a point-based IEKF method using rotation and translation, to show the relative advantages of this method. Experimental results from testing using a camera mounted on the end effector of a robot arm are also given.

  15. Input-output model for MACCS nuclear accident impacts estimation¹

    Energy Technology Data Exchange (ETDEWEB)

    Outkin, Alexander V. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Bixler, Nathan E. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Vargas, Vanessa N [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2015-01-27

    Since the original economic model for MACCS was developed, better quality economic data (as well as the tools to gather and process it) and better computational capabilities have become available. The update of the economic impacts component of the MACCS legacy model will provide improved estimates of business disruptions through the use of Input-Output based economic impact estimation. This paper presents an updated MACCS model, bases on Input-Output methodology, in which economic impacts are calculated using the Regional Economic Accounting analysis tool (REAcct) created at Sandia National Laboratories. This new GDP-based model allows quick and consistent estimation of gross domestic product (GDP) losses due to nuclear power plant accidents. This paper outlines the steps taken to combine the REAcct Input-Output-based model with the MACCS code, describes the GDP loss calculation, and discusses the parameters and modeling assumptions necessary for the estimation of long-term effects of nuclear power plant accidents.

  16. Impact of Hydrogeological Uncertainty on Estimation of Environmental Risks Posed by Hydrocarbon Transportation Networks

    Science.gov (United States)

    Ciriello, V.; Lauriola, I.; Bonvicini, S.; Cozzani, V.; Di Federico, V.; Tartakovsky, Daniel M.

    2017-11-01

    Ubiquitous hydrogeological uncertainty undermines the veracity of quantitative predictions of soil and groundwater contamination due to accidental hydrocarbon spills from onshore pipelines. Such predictions, therefore, must be accompanied by quantification of predictive uncertainty, especially when they are used for environmental risk assessment. We quantify the impact of parametric uncertainty on quantitative forecasting of temporal evolution of two key risk indices, volumes of unsaturated and saturated soil contaminated by a surface spill of light nonaqueous-phase liquids. This is accomplished by treating the relevant uncertain parameters as random variables and deploying two alternative probabilistic models to estimate their effect on predictive uncertainty. A physics-based model is solved with a stochastic collocation method and is supplemented by a global sensitivity analysis. A second model represents the quantities of interest as polynomials of random inputs and has a virtually negligible computational cost, which enables one to explore any number of risk-related contamination scenarios. For a typical oil-spill scenario, our method can be used to identify key flow and transport parameters affecting the risk indices, to elucidate texture-dependent behavior of different soils, and to evaluate, with a degree of confidence specified by the decision-maker, the extent of contamination and the correspondent remediation costs.

  17. Extended Kalman filter-based methods for pose estimation using visual, inertial and magnetic sensors: comparative analysis and performance evaluation.

    Science.gov (United States)

    Ligorio, Gabriele; Sabatini, Angelo Maria

    2013-02-04

    In this paper measurements from a monocular vision system are fused with inertial/magnetic measurements from an Inertial Measurement Unit (IMU) rigidly connected to the camera. Two Extended Kalman filters (EKFs) were developed to estimate the pose of the IMU/camera sensor moving relative to a rigid scene (ego-motion), based on a set of fiducials. The two filters were identical as for the state equation and the measurement equations of the inertial/magnetic sensors. The DLT-based EKF exploited visual estimates of the ego-motion using a variant of the Direct Linear Transformation (DLT) method; the error-driven EKF exploited pseudo-measurements based on the projection errors from measured two-dimensional point features to the corresponding three-dimensional fiducials. The two filters were off-line analyzed in different experimental conditions and compared to a purely IMU-based EKF used for estimating the orientation of the IMU/camera sensor. The DLT-based EKF was more accurate than the error-driven EKF, less robust against loss of visual features, and equivalent in terms of computational complexity. Orientation root mean square errors (RMSEs) of 1° (1.5°), and position RMSEs of 3.5 mm (10 mm) were achieved in our experiments by the DLT-based EKF (error-driven EKF); by contrast, orientation RMSEs of 1.6° were achieved by the purely IMU-based EKF.

  18. Meta Analysis for Benefits Transfer – Toward Value Estimates for Some Outputs of Multifunctional Agriculture

    OpenAIRE

    Randall, Alan; Kidder, Ayuna; Chen, Ding-Rong

    2008-01-01

    As a contribution to valuing the outputs of multifunctional agriculture, we report three new meta analyses estimating value functions for agricultural conservation program impacts on water quality, wetlands, and upland habitat and open space. As is often the case in valuation, where methods have yet to be standardized, the data sets are relatively small and noisy. With a clear objective of benefits transfer, we seek robust parameter estimates for key RHS variables, even at the cost of some lo...

  19. Long-term energy output estimation for photovoltaic energy systems using synthetic solar irradiation data

    International Nuclear Information System (INIS)

    Celik, A.N.

    2003-01-01

    A general methodology is presented to estimate the monthly average daily energy output from photovoltaic energy systems. Energy output is estimated from synthetically generated solar radiation data. The synthetic solar radiation data are generated based on the cumulative frequency distribution of the daily clearness index, given as a function of the monthly clearness index. Two sets of synthetic solar irradiation data are generated: 3- and 4-day months. In the 3-day month, each month is represented by 3 days and in the 4-day month, by 4 days. The 3- and 4-day solar irradiation data are synthetically generated for each month and the corresponding energy outputs are calculated. A total of 8-year long measured hourly solar irradiation data, from five different locations in the world, is used to validate the new model. The monthly energy output values calculated from the synthetic solar irradiation data are compared to those calculated from the measured hour-by-hour data. It is shown that when the measured solar radiation data do not exist for a particular location or reduced data set is advantageous, the energy output from photovoltaic converters could be correctly calculated

  20. Dynamic Output Feedback Robust MPC with Input Saturation Based on Zonotopic Set-Membership Estimation

    Directory of Open Access Journals (Sweden)

    Xubin Ping

    2016-01-01

    Full Text Available For quasi-linear parameter varying (quasi-LPV systems with bounded disturbance, a synthesis approach of dynamic output feedback robust model predictive control (OFRMPC with the consideration of input saturation is investigated. The saturated dynamic output feedback controller is represented by a convex hull involving the actual dynamic output controller and an introduced auxiliary controller. By taking both the actual output feedback controller and the auxiliary controller with a parameter-dependent form, the main optimization problem can be formulated as convex optimization. The consideration of input saturation in the main optimization problem reduces the conservatism of dynamic output feedback controller design. The estimation error set and bounded disturbance are represented by zonotopes and refreshed by zonotopic set-membership estimation. Compared with the previous results, the proposed algorithm can not only guarantee the recursive feasibility of the optimization problem, but also improve the control performance at the cost of higher computational burden. A nonlinear continuous stirred tank reactor (CSTR example is given to illustrate the effectiveness of the approach.

  1. Problem Posing

    OpenAIRE

    Šilhavá, Marie

    2009-01-01

    This diploma thesis concentrates on problem posing from the students' point of view. Problem posing can be either seen as a teaching method which can be used in the class, or it can be used as a tool for researchers or teachers to assess the level of students' understanding of the topic. In my research, I compare three classes, one mathematics specialist class and two generalist classes, in their ability of problem posing. As an assessment tool it seemed that mathemathics specialists were abl...

  2. Estimating changes in cardiac output using an implanted hemodynamic monitor in heart failure patients

    DEFF Research Database (Denmark)

    Ståhlberg, Marcus; Damgaard, Morten; Ersgård, David

    2010-01-01

    OBJECTIVES: The aim of this study was to evaluate an algorithm that estimates changes in cardiac output (CO) from right ventricular (RV) pressure waveforms derived from an implantable hemodynamic monitor (IHM) in heart failure patients. DESIGN: Twelve heart failure patients (NYHA II-III, EF 32......%) with an implantable hemodynamic monitor (Chronicle) were included in this study. Changes in cardiac output were provoked by body position change at rest (left lateral supine, horizontal supine, sitting, and standing) and a steady state bicycle exercise at 20 watts. Estimated CO derived from the IHM (CO...... was -0.39 L/min (11%). Limits of agreement were +/-1.56 L/min and relative error was 21%. CONCLUSIONS: A simple algorithm based on RV pressure wave form characteristics derived from an IHM can be used to estimate changes in CO in heart failure patients. These findings encourage further research aiming...

  3. Estimation of monthly wind power outputs of WECS with limited record period using artificial neural networks

    International Nuclear Information System (INIS)

    Tu, Yi-Long; Chang, Tsang-Jung; Chen, Cheng-Lung; Chang, Yu-Jung

    2012-01-01

    Highlights: ► ANN with short record training data is used to estimate power outputs in an existing station. ► The suitable numbers/parameters of input neurons for ANN are presented. ► Current wind speeds and previous power outputs are the most important input neurons. ► Choosing suitable input parameters is more important than choosing multiple parameters. - Abstract: For the brand new wind power industry, online recordings of wind power data are always in a relatively limited period. The aim of the study is to investigate the suitable numbers/parameters of input neurons for artificial neural networks under a short record of measured data. Measured wind speeds, wind directions (yaw angles) and power outputs with 10-min resolution at an existing wind power station, located at Jhongtun, Taiwan, are integrated to form three types of input neuron numbers and sixteen cases of input neurons. The first-10 days of each month in 2006 are used for data training to simulate the following 20-day power generation of the same month. The performance of various input neuron cases is evaluated. The simulated results show that using the first 10-day training data with adequate input neurons can estimate energy outputs well except the weak wind regime (May, June, and July). Among the input neuron parameters used, current wind speeds V(t) and previous power outputs P(t − 1) are the most important. Individually using one of them into input neurons can only provide satisfactory estimation. However, simultaneously using these two parameters into input neurons can give the best estimation. Thus, choosing suitable input parameters is more important than choosing multiple parameters.

  4. 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).

  5. Estimation of Individual Cylinder Air-Fuel Ratio in Gasoline Engine with Output Delay

    Directory of Open Access Journals (Sweden)

    Changhui Wang

    2016-01-01

    Full Text Available The estimation of the individual cylinder air-fuel ratio (AFR with a single universal exhaust gas oxygen (UEGO sensor installed in the exhaust pipe is an important issue for the cylinder-to-cylinder AFR balancing control, which can provide high-quality torque generation and reduce emissions in multicylinder engine. In this paper, the system dynamic for the gas in exhaust pipe including the gas mixing, gas transport, and sensor dynamics is described as an output delay system, and a new method using the output delay system observer is developed to estimate the individual cylinder AFR. With the AFR at confluence point augmented as a system state, an observer for the augmented discrete system with output delay is designed to estimate the AFR at confluence point. Using the gas mixing model, a method with the designed observer to estimate the individual cylinder AFR is presented. The validity of the proposed method is verified by the simulation results from a spark ignition gasoline engine from engine software enDYNA by Tesis.

  6. Dynamic Estimation on Output Elasticity of Highway Capital Stock in China

    Science.gov (United States)

    Li, W. J.; Zuo, Q. L.; Bai, Y. F.

    2017-12-01

    By using the Perpetual Inventory Method to calculate the capital stock of highway in China from 1988 to 2016, the paper builds the State Space Model based on Translog Production Function, according to the Ridge Regression and Kalman Filter Method, the dynamic estimation results of output elasticity are measured continuously and analyzed. The conclusions show that: Firstly, China’s growth speed on highway industry capital stock are divided into three stages which are respectively from 1988 to 2000, from 2001 to 2009 and from 2010 to 2016, during which shows steady growth, between which reflect rapid growth; Secondly, the output elasticity of highway capital stock, being between 0.154 and 0.248, is slightly larger than the output elasticity of human input factor, lower than the output elasticity of the technical level, shows positive effect on transport economy and rises steadily, but the output efficiency is low on the whole; Thirdly, around the year of 2010, the scale pay on highway industry begins to highlight the characteristic of increase.

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

    Science.gov (United States)

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

    2016-05-01

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

  8. Enhancing e-waste estimates: Improving data quality by multivariate Input–Output Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Feng, E-mail: fwang@unu.edu [Institute for Sustainability and Peace, United Nations University, Hermann-Ehler-Str. 10, 53113 Bonn (Germany); Design for Sustainability Lab, Faculty of Industrial Design Engineering, Delft University of Technology, Landbergstraat 15, 2628CE Delft (Netherlands); Huisman, Jaco [Institute for Sustainability and Peace, United Nations University, Hermann-Ehler-Str. 10, 53113 Bonn (Germany); Design for Sustainability Lab, Faculty of Industrial Design Engineering, Delft University of Technology, Landbergstraat 15, 2628CE Delft (Netherlands); Stevels, Ab [Design for Sustainability Lab, Faculty of Industrial Design Engineering, Delft University of Technology, Landbergstraat 15, 2628CE Delft (Netherlands); Baldé, Cornelis Peter [Institute for Sustainability and Peace, United Nations University, Hermann-Ehler-Str. 10, 53113 Bonn (Germany); Statistics Netherlands, Henri Faasdreef 312, 2492 JP Den Haag (Netherlands)

    2013-11-15

    Highlights: • A multivariate Input–Output Analysis method for e-waste estimates is proposed. • Applying multivariate analysis to consolidate data can enhance e-waste estimates. • We examine the influence of model selection and data quality on e-waste estimates. • Datasets of all e-waste related variables in a Dutch case study have been provided. • Accurate modeling of time-variant lifespan distributions is critical for estimate. - Abstract: Waste electrical and electronic equipment (or e-waste) is one of the fastest growing waste streams, which encompasses a wide and increasing spectrum of products. Accurate estimation of e-waste generation is difficult, mainly due to lack of high quality data referred to market and socio-economic dynamics. This paper addresses how to enhance e-waste estimates by providing techniques to increase data quality. An advanced, flexible and multivariate Input–Output Analysis (IOA) method is proposed. It links all three pillars in IOA (product sales, stock and lifespan profiles) to construct mathematical relationships between various data points. By applying this method, the data consolidation steps can generate more accurate time-series datasets from available data pool. This can consequently increase the reliability of e-waste estimates compared to the approach without data processing. A case study in the Netherlands is used to apply the advanced IOA model. As a result, for the first time ever, complete datasets of all three variables for estimating all types of e-waste have been obtained. The result of this study also demonstrates significant disparity between various estimation models, arising from the use of data under different conditions. It shows the importance of applying multivariate approach and multiple sources to improve data quality for modelling, specifically using appropriate time-varying lifespan parameters. Following the case study, a roadmap with a procedural guideline is provided to enhance e

  9. Enhancing e-waste estimates: Improving data quality by multivariate Input–Output Analysis

    International Nuclear Information System (INIS)

    Wang, Feng; Huisman, Jaco; Stevels, Ab; Baldé, Cornelis Peter

    2013-01-01

    Highlights: • A multivariate Input–Output Analysis method for e-waste estimates is proposed. • Applying multivariate analysis to consolidate data can enhance e-waste estimates. • We examine the influence of model selection and data quality on e-waste estimates. • Datasets of all e-waste related variables in a Dutch case study have been provided. • Accurate modeling of time-variant lifespan distributions is critical for estimate. - Abstract: Waste electrical and electronic equipment (or e-waste) is one of the fastest growing waste streams, which encompasses a wide and increasing spectrum of products. Accurate estimation of e-waste generation is difficult, mainly due to lack of high quality data referred to market and socio-economic dynamics. This paper addresses how to enhance e-waste estimates by providing techniques to increase data quality. An advanced, flexible and multivariate Input–Output Analysis (IOA) method is proposed. It links all three pillars in IOA (product sales, stock and lifespan profiles) to construct mathematical relationships between various data points. By applying this method, the data consolidation steps can generate more accurate time-series datasets from available data pool. This can consequently increase the reliability of e-waste estimates compared to the approach without data processing. A case study in the Netherlands is used to apply the advanced IOA model. As a result, for the first time ever, complete datasets of all three variables for estimating all types of e-waste have been obtained. The result of this study also demonstrates significant disparity between various estimation models, arising from the use of data under different conditions. It shows the importance of applying multivariate approach and multiple sources to improve data quality for modelling, specifically using appropriate time-varying lifespan parameters. Following the case study, a roadmap with a procedural guideline is provided to enhance e

  10. Output-feedback control of combined sewer networks through receding horizon control with moving horizon estimation

    OpenAIRE

    Joseph-Duran, Bernat; Ocampo-Martinez, Carlos; Cembrano, Gabriela

    2015-01-01

    An output-feedback control strategy for pollution mitigation in combined sewer networks is presented. The proposed strategy provides means to apply model-based predictive control to large-scale sewer networks, in-spite of the lack of measurements at most of the network sewers. In previous works, the authors presented a hybrid linear control-oriented model for sewer networks together with the formulation of Optimal Control Problems (OCP) and State Estimation Problems (SEP). By iteratively solv...

  11. Investigating time-efficiency of forward masking paradigms for estimating basilar membrane input-output characteristics

    DEFF Research Database (Denmark)

    Fereczkowski, Michal; Jepsen, Morten Løve; Dau, Torsten

    2017-01-01

    -output (I/O) function have been proposed. However, such measures are very time consuming. The present study investigated possible modifications of the temporal masking curve (TMC) paradigm to improve time and measurement efficiency. In experiment 1, estimates of knee point (KP) and compression ratio (CR......”, was tested. In contrast to the standard TMC paradigm, the maker level was kept fixed and the “gap threshold” was obtained, such that the masker just masks a low-level (12 dB sensation level) signal. It is argued that this modification allows for better control of the tested stimulus level range, which...

  12. Dose estimate by personal music players based on weighted output voltage

    DEFF Research Database (Denmark)

    Hammershøi, Dorte; Ordoñez Pizarro, Rodrigo Eduardo; Christensen, Anders Tornvig

    2015-01-01

    The exposure by personal music players may in future be displayed to users, as described in the current draft of EN 50332-3. The suggested procedure includes a weighting of the electrical output voltages of the music player, and does not include the significance of the earphone sensitivity. It does...... not include the weighting principles necessary for sound sources close to the ears either, which constitutes an inverse head-related transfer function for the free- or diffuse field. The purpose of the present study is to assess the uncertainties in the dose estimate determined this way. Measurements for 20...

  13. Fluctuations of the SNR at the output of the MVDR with Regularized Tyler Estimators

    KAUST Repository

    Elkhalil, Khalil

    2016-12-27

    This paper analyzes the statistical properties of the signal-to-noise ratio (SNR) at the output of the Capon\\'s minimum variance distortionless response (MVDR) beamformers when operating over impulsive noises. Particularly, we consider the supervised case in which the receiver employs the regularized Tyler estimator in order to estimate the covariance matrix of the interference-plus-noise process using n observations of size N×1N×1. The choice for the regularized Tylor estimator (RTE) is motivated by its resilience to the presence of outliers and its regularization parameter that guarantees a good conditioning of the covariance estimate. Of particular interest in this paper is the derivation of the second order statistics of the SINR. To achieve this goal, we consider two different approaches. The first one is based on considering the classical regime, referred to as the n-large regime, in which N is assumed to be fixed while n grows to infinity. The second approach is built upon recent results developped within the framework of random matrix theory and assumes that N and n grow large together. Numerical results are provided in order to compare between the accuracies of each regime under different settings.

  14. Estimation of continuous multi-DOF finger joint kinematics from surface EMG using a multi-output Gaussian Process.

    Science.gov (United States)

    Ngeo, Jimson; Tamei, Tomoya; Shibata, Tomohiro

    2014-01-01

    Surface electromyographic (EMG) signals have often been used in estimating upper and lower limb dynamics and kinematics for the purpose of controlling robotic devices such as robot prosthesis and finger exoskeletons. However, in estimating multiple and a high number of degrees-of-freedom (DOF) kinematics from EMG, output DOFs are usually estimated independently. In this study, we estimate finger joint kinematics from EMG signals using a multi-output convolved Gaussian Process (Multi-output Full GP) that considers dependencies between outputs. We show that estimation of finger joints from muscle activation inputs can be improved by using a regression model that considers inherent coupling or correlation within the hand and finger joints. We also provide a comparison of estimation performance between different regression methods, such as Artificial Neural Networks (ANN) which is used by many of the related studies. We show that using a multi-output GP gives improved estimation compared to multi-output ANN and even dedicated or independent regression models.

  15. Association of HeartMate II left ventricular assist device flow estimate with thermodilution cardiac output.

    Science.gov (United States)

    Hasin, Tal; Huebner, Marianne; Li, Zhuo; Brown, Daniel; Stulak, John M; Boilson, Barry A; Joyce, Lyle; Pereira, Naveen L; Kushwaha, Sudhir S; Park, Soon J

    2014-01-01

    Cardiac output (CO) assessment is important in treating patients with heart failure. Durable left ventricular assist devices (LVADs) provide essentially all CO. In currently used LVADs, estimated device flow is generated by a computerized algorithm. However, LVAD flow estimate may be inaccurate in tracking true CO. We correlated LVAD (HeartMate II) flow with thermodilution CO during postoperative care (day 2-10 after implant) in 81 patients (5,616 paired measurements). Left ventricular assist device flow and CO correlated with a low correlation coefficient (r = 0.42). Left ventricular assist device readings were lower than CO measurements by approximately 0.36 L/min, trending for larger difference with higher values. Left ventricular assist device flow measurements showed less temporal variability compared with CO. Grouping for simultaneous measured blood pressure (BP device flow generally trends with measured CO, but large variability exists, hence flow measures should not be assumed to equal with CO. Clinicians should take into account variables such as high CO, BP, and opening of the aortic valve when interpreting LVAD flow readout. Direct flow sensors incorporated in the LVAD system may allow for better estimation.

  16. Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs.

    Science.gov (United States)

    Zhong, Zhixiong; Zhu, Yanzheng; Ahn, Choon Ki

    2018-03-20

    In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Two new formulae for estimating the output of x-ray units

    International Nuclear Information System (INIS)

    Kumar, Pratik; Kaul, Rashmi; Rehani, M.M.; Sethi, Bhawna; Berry, M.

    1996-01-01

    The radiation output from different x-ray machines varies considerably. For a given kVp and mAs, this variation results from voltage waveform from the generator, tube-age and filtration. In routine practices, no exposure meter is fitted in the controls of x-ray machines. The most appropriate way to know entrance skin exposure (ESE) to the patient is by using the standard formulae. But, as yet, no one has evaluated the different formulae available in the literature, for their validity when applied to different machines. In the present study, we have first measured the ESE for seven x-ray machines and then estimated the % error between experimental and calculated values with five formulae and nomogram available in literature. Since all these formulae gave errors exceeding ±35% of the actual value, we have evolved two new formulae and developed appropriate computer programs. These two formulae are able to provide an estimate of ESE within a mean % error of -3.9±14.5 and 0.7±19.4 respectively, for seven x-ray machines included in the study. (author). 15 refs., 3 tabs

  18. Output-feedback control of combined sewer networks through receding horizon control with moving horizon estimation

    Science.gov (United States)

    Joseph-Duran, Bernat; Ocampo-Martinez, Carlos; Cembrano, Gabriela

    2015-10-01

    An output-feedback control strategy for pollution mitigation in combined sewer networks is presented. The proposed strategy provides means to apply model-based predictive control to large-scale sewer networks, in-spite of the lack of measurements at most of the network sewers. In previous works, the authors presented a hybrid linear control-oriented model for sewer networks together with the formulation of Optimal Control Problems (OCP) and State Estimation Problems (SEP). By iteratively solving these problems, preliminary Receding Horizon Control with Moving Horizon Estimation (RHC/MHE) results, based on flow measurements, were also obtained. In this work, the RHC/MHE algorithm has been extended to take into account both flow and water level measurements and the resulting control loop has been extensively simulated to assess the system performance according different measurement availability scenarios and rain events. All simulations have been carried out using a detailed physically based model of a real case-study network as virtual reality.

  19. On the generalization of linear least mean squares estimation to quantum systems with non-commutative outputs

    Energy Technology Data Exchange (ETDEWEB)

    Amini, Nina H. [Stanford University, Edward L. Ginzton Laboratory, Stanford, CA (United States); CNRS, Laboratoire des Signaux et Systemes (L2S) CentraleSupelec, Gif-sur-Yvette (France); Miao, Zibo; Pan, Yu; James, Matthew R. [Australian National University, ARC Centre for Quantum Computation and Communication Technology, Research School of Engineering, Canberra, ACT (Australia); Mabuchi, Hideo [Stanford University, Edward L. Ginzton Laboratory, Stanford, CA (United States)

    2015-12-15

    The purpose of this paper is to study the problem of generalizing the Belavkin-Kalman filter to the case where the classical measurement signal is replaced by a fully quantum non-commutative output signal. We formulate a least mean squares estimation problem that involves a non-commutative system as the filter processing the non-commutative output signal. We solve this estimation problem within the framework of non-commutative probability. Also, we find the necessary and sufficient conditions which make these non-commutative estimators physically realizable. These conditions are restrictive in practice. (orig.)

  20. Gas geochemistry and preliminary CO2 output estimation from the island of Kos (Greece)

    Science.gov (United States)

    D'Alessandro, Walter; Daskalopoulou, Kyriaki; Calabrese, Sergio; Longo, Manfredi; Kyriakopoulos, Konstantinos; Gagliano, Antonina Lisa

    2017-04-01

    Several gas samples have been collected from natural gas manifestations at the island of Kos. Most of them are found underwater along the southern coast of the island. On land two anomalous degassing areas have been recognized. These are characterised by lack of vegetation and after long dry periods by the presence of sulfate salts efflorescences. Almost all the gases are CO2-dominated (CO2 ranging from 88 to 99%) with minor amounts of N2 (up to 7%) and CH4 (up to 2.6%). Only the on-land manifestations have also significant contents of H2 (up to 0.2%) and H2S (up to 0.3%). Only one underwater manifestation is N2-dominated (61-99%) with CH4 (0.6-11%) and low CO2 (0.1-26%). The isotopic composition of He shows values ranging from 0.84 to 6.72 R/RA indicating a sometimes strong mantle contribution with the highest values measured in two of the most strongly degassing areas (Paradise Beach and Volcania). C-isotopic composition of CO2 is in the range from -3.6 to 0.6 ‰ vs V-PDB with most of the values around -1‰ indicating a mixed mantle - limestones origin. Isotopic composition of CH4, ranging from -21.5 to 2.8‰ for C and from -143 to 36‰ for H, points to a geothermal origin with sometimes evident secondary oxidation processes. CO2-flux measurements showed values up to about 10,000 g/m2/day in the areas of Volcania and Kokkino Nero and up to about 50,000 g/m2/day at Paradise beach. Preliminary CO2 output estimations gave values of 8.8 and 4 tons/day for the first two areas respectively and of 2.7 tons/day for the latter. The total output of the island (15.5 tons/day) should be considered a minimum estimation because of the incomplete coverage of the area and is comparable to the other active volcanic/geothermal systems of Greece (Nisyros, Nea Kameni and Methana).

  1. Pilot Study: Estimation of Stroke Volume and Cardiac Output from Pulse Wave Velocity.

    Directory of Open Access Journals (Sweden)

    Yurie Obata

    Full Text Available Transesophageal echocardiography (TEE is increasingly replacing thermodilution pulmonary artery catheters to assess hemodynamics in patients at high risk for cardiovascular morbidity. However, one of the drawbacks of TEE compared to pulmonary artery catheters is the inability to measure real time stroke volume (SV and cardiac output (CO continuously. The aim of the present proof of concept study was to validate a novel method of SV estimation, based on pulse wave velocity (PWV in patients undergoing cardiac surgery.This is a retrospective observational study. We measured pulse transit time by superimposing the radial arterial waveform onto the continuous wave Doppler waveform of the left ventricular outflow tract, and calculated SV (SVPWV using the transformed Bramwell-Hill equation. The SV measured by TEE (SVTEE was used as a reference.A total of 190 paired SV were measured from 28 patients. A strong correlation was observed between SVPWV and SVTEE with the coefficient of determination (R2 of 0.71. A mean difference between the two (bias was 3.70 ml with the limits of agreement ranging from -20.33 to 27.73 ml and a percentage error of 27.4% based on a Bland-Altman analysis. The concordance rate of two methods was 85.0% based on a four-quadrant plot. The angular concordance rate was 85.9% with radial limits of agreement (the radial sector that contained 95% of the data points of ± 41.5 degrees based on a polar plot.PWV based SV estimation yields reasonable agreement with SV measured by TEE. Further studies are required to assess its utility in different clinical situations.

  2. Improved GRACE regional mass balance estimates of the Greenland ice sheet cross-validated with the input-output method

    NARCIS (Netherlands)

    Xu, Zheng; Schrama, Ernst J. O.; van der Wal, Wouter; van den Broeke, Michiel; Enderlin, Ellyn M.

    2016-01-01

    In this study, we use satellite gravimetry data from the Gravity Recovery and Climate Experiment (GRACE) to estimate regional mass change of the Greenland ice sheet (GrIS) and neighboring glaciated regions using a least squares inversion approach. We also consider results from the input–output

  3. Improved GRACE regional mass balance estimates of the Greenland ice sheet cross-validated with the input–output method

    NARCIS (Netherlands)

    Xu, Z.; Schrama, E.J.O.; van der Wal, W.; van den Broeke, MR; Enderlin, EM

    2016-01-01

    In this study, we use satellite gravimetry data from the Gravity Recovery and Climate Experiment (GRACE) to estimate regional mass change of the Greenland ice sheet (GrIS) and neighboring glaciated regions using a least squares inversion approach. We also consider results from the input–output

  4. Empirical investigation on using wind speed volatility to estimate the operation probability and power output of wind turbines

    International Nuclear Information System (INIS)

    Liu, Heping; Shi, Jing; Qu, Xiuli

    2013-01-01

    Highlights: ► Ten-minute wind speed and power generation data of an offshore wind turbine are used. ► An ARMA–GARCH-M model is built to simultaneously forecast wind speed mean and volatility. ► The operation probability and expected power output of the wind turbine are predicted. ► The integrated approach produces more accurate wind power forecasting than other conventional methods. - Abstract: In this paper, we introduce a quantitative methodology that performs the interval estimation of wind speed, calculates the operation probability of wind turbine, and forecasts the wind power output. The technological advantage of this methodology stems from the empowered capability of mean and volatility forecasting of wind speed. Based on the real wind speed and corresponding wind power output data from an offshore wind turbine, this methodology is applied to build an ARMA–GARCH-M model for wind speed forecasting, and then to compute the operation probability and the expected power output of the wind turbine. The results show that the developed methodology is effective, the obtained interval estimation of wind speed is reliable, and the forecasted operation probability and expected wind power output of the wind turbine are accurate

  5. Estimation of hospital efficiency--do different definitions and casemix measures for hospital output affect the results?

    Science.gov (United States)

    Vitikainen, Kirsi; Street, Andrew; Linna, Miika

    2009-02-01

    Hospital efficiency has been the subject of numerous health economics studies, but there is little evidence on how the chosen output and casemix measures affect the efficiency results. The aim of this study is to examine the robustness of efficiency results due to these factors. Comparison is made between activities and episode output measures, and two different output grouping systems (Classic and FullDRG). Non-parametric data envelopment analysis is used as an analysis technique. The data consist of all public acute care hospitals in Finland in 2005 (n=40). Efficiency estimates were not found to be highly sensitive to the choice between episode and activity descriptions of output, but more so to the choice of DRG grouping system. Estimates are most sensitive to scale assumptions, with evidence of decreasing returns to scale in larger hospitals. Episode measures are generally to be preferred to activity measures because these better capture the patient pathway, while FullDRGs are preferred to Classic DRGs particularly because of the better description of outpatient output in the former grouping system. Attention should be paid to reducing the extent of scale inefficiency in Finland.

  6. A use-side procedure for estimating trade margins in input-output analysis

    Directory of Open Access Journals (Sweden)

    Marisa Asensio Pardo

    2005-01-01

    Full Text Available According to the National Accounting Systems proposed by United Nations (1993 and Eurostat (1996, use and make (or supply matrices should be measured before goods and services are conveyed to the markets (basic values. Actually, the make table is defined in basic values (excluding trade and transport margins and net commodity taxes whereas the use table is in purchasers’ values (including them. In particular, this paper shows how trade margins can be removed from the use table with the purpose of constructing an input-output table. The proposed approach is based on the use-side procedure from the ESA-95 Input-Output Manual (Eurostat, 2002 and is also being applied to the forthcoming 2000 Andalusian Input-Output Framework.

  7. Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

    DEFF Research Database (Denmark)

    Fossen, T. I.; Blanke, Mogens

    2000-01-01

    Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water...

  8. Dynamic Output Feedback Robust Model Predictive Control via Zonotopic Set-Membership Estimation for Constrained Quasi-LPV Systems

    Directory of Open Access Journals (Sweden)

    Xubin Ping

    2015-01-01

    Full Text Available For the quasi-linear parameter varying (quasi-LPV system with bounded disturbance, a synthesis approach of dynamic output feedback robust model predictive control (OFRMPC is investigated. The estimation error set is represented by a zonotope and refreshed by the zonotopic set-membership estimation method. By properly refreshing the estimation error set online, the bounds of true state at the next sampling time can be obtained. Furthermore, the feasibility of the main optimization problem at the next sampling time can be determined at the current time. A numerical example is given to illustrate the effectiveness of the approach.

  9. Fluctuations of the SNR at the output of the MVDR with Regularized Tyler Estimators

    KAUST Repository

    Elkhalil, Khalil; Kammoun, Abla; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

    2016-01-01

    case in which the receiver employs the regularized Tyler estimator in order to estimate the covariance matrix of the interference-plus-noise process using n observations of size N×1N×1. The choice for the regularized Tylor estimator (RTE) is motivated

  10. DEREGULATION, FINANCIAL CRISIS, AND BANK EFFICIENCY IN TAIWAN: AN ESTIMATION OF UNDESIRABLE OUTPUTS

    OpenAIRE

    Liao, Chang-Sheng

    2018-01-01

    Purpose- This study investigates the undesirable impacts of outputson bank efficiency and contributes to the literature by assessing howregulation policies and other events impact bank efficiency in Taiwan inregards to deregulation, financial crisis, and financial reform from 1993 to2011. Methodology- In order to effectively deal with both undesirableand desirable outputs, this study follows Seiford and Zhu (2002), who recommendusing the standard data envelopment analysis model to measure per...

  11. Improved ESPRIT Method for Joint Direction-of-Arrival and Frequency Estimation Using Multiple-Delay Output

    Directory of Open Access Journals (Sweden)

    Wang Xudong

    2012-01-01

    Full Text Available An automatic pairing joint direction-of-arrival (DOA and frequency estimation is presented to overcome the unsatisfactory performances of estimation of signal parameter via rotational invariance techniques- (ESPRIT- like algorithm of Wang (2010, which requires an additional pairing. By using multiple-delay output of a uniform linear antenna arrays (ULA, the proposed algorithm can estimate joint angles and frequencies with an improved ESPRIT. Compared with Wang’s ESPRIT algorithm, the angle estimation performance of the proposed algorithm is greatly improved. The frequency estimation performance of the proposed algorithm is same with that of Wang’s ESPRIT algorithm. Furthermore, the proposed algorithm can obtain automatic pairing DOA and frequency parameters, and it has a comparative computational complexity in contrast to Wang’s ESPRIT algorithm. By the way, this proposed algorithm can also work well for nonuniform linear arrays. The useful behavior of this proposed algorithm is verified by simulations.

  12. Estimating the basilar-membrane input-output function in normal-hearing and hearing-impaired listeners

    DEFF Research Database (Denmark)

    Jepsen, Morten Løve; Dau, Torsten

    To partly characterize the function of cochlear processing in humans, the basilar membrane (BM) input-output function can be estimated. In recent studies, forward masking has been used to estimate BM compression. If an on-frequency masker is processed compressively, while an off-frequency masker...... is transformed more linearly, the ratio between the slopes of growth of masking (GOM) functions provides an estimate of BM compression at the signal frequency. In this study, this paradigm is extended to also estimate the knee-point of the I/O-function between linear rocessing at low levels and compressive...... processing at medium levels. If a signal can be masked by a low-level on-frequency masker such that signal and masker fall in the linear region of the I/O-function, then a steeper GOM function is expected. The knee-point can then be estimated in the input level region where the GOM changes significantly...

  13. The output least-squares approach to estimating Lamé moduli

    Science.gov (United States)

    Gockenbach, Mark S.

    2007-12-01

    The Lamé moduli of a heterogeneous, isotropic, planar membrane can be estimated by observing the displacement of the membrane under a known edge traction, and choosing estimates of the moduli that best predict the observed displacement under a finite-element simulation. This algorithm converges to the exact moduli given pointwise measurements of the displacement on an increasingly fine mesh. The error estimates that prove this convergence also show the instability of the inverse problem.

  14. Estimation of PV output power in moving and rocking hybrid energy marine ships

    International Nuclear Information System (INIS)

    Liu, Hongda; Zhang, Qing; Qi, Xiaoxia; Han, Yang; Lu, Fang

    2017-01-01

    Highlights: •A mathematical model for characterizing the ship PV output power is developed. •The impacts of the sea condition and ship type on the PV output power are analyzed. •The hybrid energy storage system is used to stabilize the PV fluctuation powers. •A SC configuration method based on maximum half period is applied. -- Abstract: In recent years, the application of solar energy and energy storage to ship power systems has shown promise as a method for both reducing annual carbon and nitrogen oxide emissions and improving ship energy efficiency in the maritime shipping industry. When a ship navigates at sea, it encounters a constant rocking motion that is affected by both the surrounding sea conditions and the ship’s navigation parameters. This motion increases the uncertainty involved in using solar energy and accelerates the aging of the ship’s energy storage battery to some extent. In this study, a universal mathematical model is established for the power generation by photovoltaic (PV) modules in which both the sea conditions and the ship’s integrated motion, including its basic movement along with the motion caused by rocking, are taken into account. Based on this model, the fluctuation characteristics of a ship’s PV output power are studied and determined using three different simulation scenarios. A binary energy storage scheme based on a decoupled PV output power is proposed in order to both stabilize the small-period PV power fluctuations and slow the aging of the actual battery caused by rocking. In addition, a super-capacitor (SC) configuration is constructed based on a maximum half cycle. Finally, the optimal energy storage capacities for this green ship are compared under both rocking and moving motion. In the case of rocking motion, the SCs are able to achieve an approximately 24.8–35.0% reduction in battery replacement. A shipping route between Shanghai, China and Sydney, Australia is considered to validate the practicality

  15. ESPRIT-like algorithm for computational-efficient angle estimation in bistatic multiple-input multiple-output radar

    Science.gov (United States)

    Gong, Jian; Lou, Shuntian; Guo, Yiduo

    2016-04-01

    An estimation of signal parameters via a rotational invariance techniques-like (ESPRIT-like) algorithm is proposed to estimate the direction of arrival and direction of departure for bistatic multiple-input multiple-output (MIMO) radar. The properties of a noncircular signal and Euler's formula are first exploited to establish a real-valued bistatic MIMO radar array data, which is composed of sine and cosine data. Then the receiving/transmitting selective matrices are constructed to obtain the receiving/transmitting rotational invariance factors. Since the rotational invariance factor is a cosine function, symmetrical mirror angle ambiguity may occur. Finally, a maximum likelihood function is used to avoid the estimation ambiguities. Compared with the existing ESPRIT, the proposed algorithm can save about 75% of computational load owing to the real-valued ESPRIT algorithm. Simulation results confirm the effectiveness of the ESPRIT-like algorithm.

  16. Integral-equation based methods for parameter estimation in output pulses of radiation detectors: Application in nuclear medicine and spectroscopy

    Science.gov (United States)

    Mohammadian-Behbahani, Mohammad-Reza; Saramad, Shahyar

    2018-04-01

    Model based analysis methods are relatively new approaches for processing the output data of radiation detectors in nuclear medicine imaging and spectroscopy. A class of such methods requires fast algorithms for fitting pulse models to experimental data. In order to apply integral-equation based methods for processing the preamplifier output pulses, this article proposes a fast and simple method for estimating the parameters of the well-known bi-exponential pulse model by solving an integral equation. The proposed method needs samples from only three points of the recorded pulse as well as its first and second order integrals. After optimizing the sampling points, the estimation results were calculated and compared with two traditional integration-based methods. Different noise levels (signal-to-noise ratios from 10 to 3000) were simulated for testing the functionality of the proposed method, then it was applied to a set of experimental pulses. Finally, the effect of quantization noise was assessed by studying different sampling rates. Promising results by the proposed method endorse it for future real-time applications.

  17. A comprehensive estimation of the economic effects of meteorological services based on the input-output method.

    Science.gov (United States)

    Wu, Xianhua; Wei, Guo; Yang, Lingjuan; Guo, Ji; Lu, Huaguo; Chen, Yunfeng; Sun, Jian

    2014-01-01

    Concentrating on consuming coefficient, partition coefficient, and Leontief inverse matrix, relevant concepts and algorithms are developed for estimating the impact of meteorological services including the associated (indirect, complete) economic effect. Subsequently, quantitative estimations are particularly obtained for the meteorological services in Jiangxi province by utilizing the input-output method. It is found that the economic effects are noticeably rescued by the preventive strategies developed from both the meteorological information and internal relevance (interdependency) in the industrial economic system. Another finding is that the ratio range of input in the complete economic effect on meteorological services is about 1 : 108.27-1 : 183.06, remarkably different from a previous estimation based on the Delphi method (1 : 30-1 : 51). Particularly, economic effects of meteorological services are higher for nontraditional users of manufacturing, wholesale and retail trades, services sector, tourism and culture, and art and lower for traditional users of agriculture, forestry, livestock, fishery, and construction industries.

  18. A Comprehensive Estimation of the Economic Effects of Meteorological Services Based on the Input-Output Method

    Directory of Open Access Journals (Sweden)

    Xianhua Wu

    2014-01-01

    Full Text Available Concentrating on consuming coefficient, partition coefficient, and Leontief inverse matrix, relevant concepts and algorithms are developed for estimating the impact of meteorological services including the associated (indirect, complete economic effect. Subsequently, quantitative estimations are particularly obtained for the meteorological services in Jiangxi province by utilizing the input-output method. It is found that the economic effects are noticeably rescued by the preventive strategies developed from both the meteorological information and internal relevance (interdependency in the industrial economic system. Another finding is that the ratio range of input in the complete economic effect on meteorological services is about 1 : 108.27–1 : 183.06, remarkably different from a previous estimation based on the Delphi method (1 : 30–1 : 51. Particularly, economic effects of meteorological services are higher for nontraditional users of manufacturing, wholesale and retail trades, services sector, tourism and culture, and art and lower for traditional users of agriculture, forestry, livestock, fishery, and construction industries.

  19. A Comprehensive Estimation of the Economic Effects of Meteorological Services Based on the Input-Output Method

    Science.gov (United States)

    Wu, Xianhua; Yang, Lingjuan; Guo, Ji; Lu, Huaguo; Chen, Yunfeng; Sun, Jian

    2014-01-01

    Concentrating on consuming coefficient, partition coefficient, and Leontief inverse matrix, relevant concepts and algorithms are developed for estimating the impact of meteorological services including the associated (indirect, complete) economic effect. Subsequently, quantitative estimations are particularly obtained for the meteorological services in Jiangxi province by utilizing the input-output method. It is found that the economic effects are noticeably rescued by the preventive strategies developed from both the meteorological information and internal relevance (interdependency) in the industrial economic system. Another finding is that the ratio range of input in the complete economic effect on meteorological services is about 1 : 108.27–1 : 183.06, remarkably different from a previous estimation based on the Delphi method (1 : 30–1 : 51). Particularly, economic effects of meteorological services are higher for nontraditional users of manufacturing, wholesale and retail trades, services sector, tourism and culture, and art and lower for traditional users of agriculture, forestry, livestock, fishery, and construction industries. PMID:24578666

  20. The non-invasive and continuous estimation of cardiac output using a photoplethysmogram and electrocardiogram during incremental exercise

    International Nuclear Information System (INIS)

    Wang, L; Poon, C C Y; Zhang, Y T

    2010-01-01

    Cardiac output (CO) monitoring is not only essential for critically ill patients in the hospital, but also for patients at home and those undergoing cardiopulmonary exercise testing. However, CO is difficult to monitor during daily activities and exercise. In this paper, we aim at developing a novel CO estimation method that can be used under these challenging conditions. The tube model was utilized to derive a CO index, namely the pulse time reflection ratio (PTRR) from an electrocardiogram and photoplethysmogram. After calibration, the PTRR can be used to estimate beat-to-beat CO. The proposed method was verified against CO measured by impedance cardiography on 19 healthy subjects in an incremental intensity exercise test. Results showed that there were strong correlations (r) between the PTRR and reference CO in 18 subjects (mean r: 0.88, n = 245 trials). Two calibration approaches reported in the literature were applied to the proposed method and the corresponding bias ± precisions of estimation errors were 0 ± 1.89 L min −1 and −0.22 ± 2.12 L min −1 , respectively. The percent errors were 21.94% and 24.90%, smaller than the clinical acceptance limit (30%). To conclude, after calibration, this method can be used to monitor CO on healthy subjects during incremental intensity exercise

  1. Influence of heart motion on cardiac output estimation by means of electrical impedance tomography: a case study

    International Nuclear Information System (INIS)

    Proença, Martin; Braun, Fabian; Rapin, Michael; Solà, Josep; Lemay, Mathieu; Adler, Andy; Grychtol, Bartłomiej; Bohm, Stephan H; Thiran, Jean-Philippe

    2015-01-01

    Electrical impedance tomography (EIT) is a non-invasive imaging technique that can measure cardiac-related intra-thoracic impedance changes. EIT-based cardiac output estimation relies on the assumption that the amplitude of the impedance change in the ventricular region is representative of stroke volume (SV). However, other factors such as heart motion can significantly affect this ventricular impedance change. In the present case study, a magnetic resonance imaging-based dynamic bio-impedance model fitting the morphology of a single male subject was built. Simulations were performed to evaluate the contribution of heart motion and its influence on EIT-based SV estimation. Myocardial deformation was found to be the main contributor to the ventricular impedance change (56%). However, motion-induced impedance changes showed a strong correlation (r = 0.978) with left ventricular volume. We explained this by the quasi-incompressibility of blood and myocardium. As a result, EIT achieved excellent accuracy in estimating a wide range of simulated SV values (error distribution of 0.57 ± 2.19 ml (1.02 ± 2.62%) and correlation of r = 0.996 after a two-point calibration was applied to convert impedance values to millilitres). As the model was based on one single subject, the strong correlation found between motion-induced changes and ventricular volume remains to be verified in larger datasets. (paper)

  2. Estimation of Truck Trips on Large-Scale Irrigation Project: A Combinatory Input-Output Commodity-Based Approach

    Directory of Open Access Journals (Sweden)

    Ackchai Sirikijpanichkul

    2015-01-01

    Full Text Available For the agricultural-based countries, the requirement on transportation infrastructure should not only be limited to accommodate general traffic but also the transportation of crop and agricultural products during the harvest seasons. Most of the past researches focus on the development of truck trip estimation techniques for urban, statewide, or nationwide freight movement but neglect the importance of rural freight movement which contributes to pavement deterioration on rural roads especially during harvest seasons. Recently, the Thai Government initiated a plan to construct a network of reservoirs within the northeastern region, aiming at improving existing irrigation system particularly in the areas where a more effective irrigation system is needed. It is expected to bring in new opportunities on expanding the cultivation areas, increasing the economy of scale and enlarging the extent market of area. As a consequence, its effects on truck trip generation needed to be investigated to assure the service quality of related transportation infrastructure. This paper proposes a combinatory input-output commodity-based approach to estimate truck trips on rural highway infrastructure network. The large-scale irrigation project for the northeastern of Thailand is demonstrated as a case study.

  3. Estimated Impact of the American Recovery and Reinvestment Act on Employment and Economic Output from October 2011 Through December 2011

    Science.gov (United States)

    2012-02-01

    used to finance 11. Changes in the output gap affect unemployment gradually over several quarters. Initially, part of a rise in output shows up as...discussion of the long-run effects of other debt- financed policies for boosting output and employment, see statement of Douglas W. Elmendorf, Director...DECEMBER 2011 CBO 6. See Eric M. Leeper, "Monetary Science, Fiscal Alchemy " (paper presented at the Federal Reserve Bank of Kansas City symposium

  4. Applying physical input-output tables of energy to estimate the energy ecological footprint (EEF) of Galicia (NW Spain)

    International Nuclear Information System (INIS)

    Carballo Penela, Adolfo; Sebastian Villasante, Carlos

    2008-01-01

    Nowadays, the achievement of sustainable development constitutes an important constraint in the design of energy policies, being necessary the development of reliable indicators to obtain helpful information about the use of energy resources. The ecological footprint (EF) provides a referential framework for the analysis of human demand for bioproductivity, including energy issues. In this article, the theoretical bases of the footprint analysis are described by applying input-output tables of energy to estimate the Galician energy ecological footprint (EEF). It is concluded that the location of highly polluting industries in Galicia makes the Galician EEF quite higher than more developed regions of Spain. The relevance of the outer component of the Galician EEF is also studied. First, available information seems to indicate that the energy incorporated to the trading of manufactured goods would notably increase the Galician consumption of energy. On the other hand, the inclusion of electricity trade in the EEF analysis, including an adjustment, following the same philosophy as with manufactured goods is proposed. This adjustment would substantially reduce the Galician EEF, as the exported electricity widely exceeds the imported one

  5. Predicting binding poses and affinities for protein - ligand complexes in the 2015 D3R Grand Challenge using a physical model with a statistical parameter estimation

    Science.gov (United States)

    Grudinin, Sergei; Kadukova, Maria; Eisenbarth, Andreas; Marillet, Simon; Cazals, Frédéric

    2016-09-01

    The 2015 D3R Grand Challenge provided an opportunity to test our new model for the binding free energy of small molecules, as well as to assess our protocol to predict binding poses for protein-ligand complexes. Our pose predictions were ranked 3-9 for the HSP90 dataset, depending on the assessment metric. For the MAP4K dataset the ranks are very dispersed and equal to 2-35, depending on the assessment metric, which does not provide any insight into the accuracy of the method. The main success of our pose prediction protocol was the re-scoring stage using the recently developed Convex-PL potential. We make a thorough analysis of our docking predictions made with AutoDock Vina and discuss the effect of the choice of rigid receptor templates, the number of flexible residues in the binding pocket, the binding pocket size, and the benefits of re-scoring. However, the main challenge was to predict experimentally determined binding affinities for two blind test sets. Our affinity prediction model consisted of two terms, a pairwise-additive enthalpy, and a non pairwise-additive entropy. We trained the free parameters of the model with a regularized regression using affinity and structural data from the PDBBind database. Our model performed very well on the training set, however, failed on the two test sets. We explain the drawback and pitfalls of our model, in particular in terms of relative coverage of the test set by the training set and missed dynamical properties from crystal structures, and discuss different routes to improve it.

  6. 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.

  7. Uncertainty of solute flux estimation in ungauged small streams: potential implications for input-output nutrient mass balances at stream reach scale

    Directory of Open Access Journals (Sweden)

    A. Butturini

    2005-01-01

    Full Text Available Input-output mass balances within stream reaches provide in situ estimates of stream nutrient retention/release under a wide spectrum of hydrological conditions. Providing good estimates of the mass balances for nutrients depends on precise hydrological monitoring and good chemical characterisation of stream water at the input and output ends of the stream reach. There is a need to optimise the hydrological monitoring and the frequencies of water sampling to yield precise annual mass balances, so as to avoid undue cost - high resolution monitoring and subsequent chemical analysis can be labour intensive and costly. In this paper, simulation exercises were performed using a data set created to represent the instantaneous discharge and solute dynamics at the input and output ends of a model stream reach during a one year period. At the output end, stream discharge and water chemistry were monitored continuously, while the input end was assumed to be ungauged; water sampling frequency was changed arbitrarily. Instantaneous discharge at the ungauged sampling point was estimated with an empirical power model linking the discharge to the catchment area (Hooper, 1986. The model thus substitutes for the additional gauge station. Simulations showed that 10 days was the longest chemical sampling interval which could provide reach annual mass balances of acceptable precision. Presently, the relationship between discharge and catchment area is usually assumed to be linear but simulations indicate that small departures from the linearity of this relationship could cause dramatic changes in the mass balance estimations.

  8. Improved GRACE regional mass balance estimates of the Greenland Ice Sheet cross-validated with the input-output method (discussion paper)

    NARCIS (Netherlands)

    Xu, Z.; Schrama, E.J.O.; Van der Wal, W.; Van den Broeke, M.; Enderlin, E.M.

    2015-01-01

    In this study, we use satellite gravimetry data from the Gravity Recovery and Climate Experiment (GRACE) to estimate regional mass changes of the Greenland ice sheet (GrIS) and neighbouring glaciated regions using a least-squares inversion approach. We also consider results from the input-output

  9. Immediate changes in estimated cardiac output and vascular resistance after 60Co exposure in monkeys: implication for performance decrement

    International Nuclear Information System (INIS)

    Bruner, A.

    1977-01-01

    Aortic blood flow velocity, blood pressure, and heart rate were recorded in 12 unanesthetized, nonperforming monkeys during exposure to 1000 rad 60 Co at 129--164 rad/min. The first postradiation changes were seen within 3--4 min of the exposure's start and included tachycardia, a transient hypotension secondary to a loss in peripheral resistance, and a brief increase followed by a decrease to subnormal levels in cardiac output. The lowest cardiac output occurred between 10 and 20 min postexposure while blood pressure and peripheral resistance were recovering. It was proposed that the concurrent combination of low cardiac output, low blood pressure, and supranormal peripheral resistance might sufficiently attenuate cerebral perfusion temporarily to account for the transient behavioral decrements often seen during this time. Histamine release was postulated as responsible for this vascular shock syndrome

  10. SVPWM Technique with Varying DC-Link Voltage for Common Mode Voltage Reduction in a Matrix Converter and Analytical Estimation of its Output Voltage Distortion

    Science.gov (United States)

    Padhee, Varsha

    Common Mode Voltage (CMV) in any power converter has been the major contributor to premature motor failures, bearing deterioration, shaft voltage build up and electromagnetic interference. Intelligent control methods like Space Vector Pulse Width Modulation (SVPWM) techniques provide immense potential and flexibility to reduce CMV, thereby targeting all the afore mentioned problems. Other solutions like passive filters, shielded cables and EMI filters add to the volume and cost metrics of the entire system. Smart SVPWM techniques therefore, come with a very important advantage of being an economical solution. This thesis discusses a modified space vector technique applied to an Indirect Matrix Converter (IMC) which results in the reduction of common mode voltages and other advanced features. The conventional indirect space vector pulse-width modulation (SVPWM) method of controlling matrix converters involves the usage of two adjacent active vectors and one zero vector for both rectifying and inverting stages of the converter. By suitable selection of space vectors, the rectifying stage of the matrix converter can generate different levels of virtual DC-link voltage. This capability can be exploited for operation of the converter in different ranges of modulation indices for varying machine speeds. This results in lower common mode voltage and improves the harmonic spectrum of the output voltage, without increasing the number of switching transitions as compared to conventional modulation. To summarize it can be said that the responsibility of formulating output voltages with a particular magnitude and frequency has been transferred solely to the rectifying stage of the IMC. Estimation of degree of distortion in the three phase output voltage is another facet discussed in this thesis. An understanding of the SVPWM technique and the switching sequence of the space vectors in detail gives the potential to estimate the RMS value of the switched output voltage of any

  11. 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.

  12. Influence of the level of fit of a density probability function to wind-speed data on the WECS mean power output estimation

    International Nuclear Information System (INIS)

    Carta, Jose A.; Ramirez, Penelope; Velazquez, Sergio

    2008-01-01

    Static methods which are based on statistical techniques to estimate the mean power output of a WECS (wind energy conversion system) have been widely employed in the scientific literature related to wind energy. In the static method which we use in this paper, for a given wind regime probability distribution function and a known WECS power curve, the mean power output of a WECS is obtained by resolving the integral, usually using numerical evaluation techniques, of the product of these two functions. In this paper an analysis is made of the influence of the level of fit between an empirical probability density function of a sample of wind speeds and the probability density function of the adjusted theoretical model on the relative error ε made in the estimation of the mean annual power output of a WECS. The mean power output calculated through the use of a quasi-dynamic or chronological method, that is to say using time-series of wind speed data and the power versus wind speed characteristic of the wind turbine, serves as the reference. The suitability of the distributions is judged from the adjusted R 2 statistic (R a 2 ). Hourly mean wind speeds recorded at 16 weather stations located in the Canarian Archipelago, an extensive catalogue of wind-speed probability models and two wind turbines of 330 and 800 kW rated power are used in this paper. Among the general conclusions obtained, the following can be pointed out: (a) that the R a 2 statistic might be useful as an initial gross indicator of the relative error made in the mean annual power output estimation of a WECS when a probabilistic method is employed; (b) the relative errors tend to decrease, in accordance with a trend line defined by a second-order polynomial, as R a 2 increases

  13. Influence of the level of fit of a density probability function to wind-speed data on the WECS mean power output estimation

    Energy Technology Data Exchange (ETDEWEB)

    Carta, Jose A. [Department of Mechanical Engineering, University of Las Palmas de Gran Canaria, Campus de Tafira s/n, 35017 Las Palmas de Gran Canaria, Canary Islands (Spain); Ramirez, Penelope; Velazquez, Sergio [Department of Renewable Energies, Technological Institute of the Canary Islands, Pozo Izquierdo Beach s/n, 35119 Santa Lucia, Gran Canaria, Canary Islands (Spain)

    2008-10-15

    Static methods which are based on statistical techniques to estimate the mean power output of a WECS (wind energy conversion system) have been widely employed in the scientific literature related to wind energy. In the static method which we use in this paper, for a given wind regime probability distribution function and a known WECS power curve, the mean power output of a WECS is obtained by resolving the integral, usually using numerical evaluation techniques, of the product of these two functions. In this paper an analysis is made of the influence of the level of fit between an empirical probability density function of a sample of wind speeds and the probability density function of the adjusted theoretical model on the relative error {epsilon} made in the estimation of the mean annual power output of a WECS. The mean power output calculated through the use of a quasi-dynamic or chronological method, that is to say using time-series of wind speed data and the power versus wind speed characteristic of the wind turbine, serves as the reference. The suitability of the distributions is judged from the adjusted R{sup 2} statistic (R{sub a}{sup 2}). Hourly mean wind speeds recorded at 16 weather stations located in the Canarian Archipelago, an extensive catalogue of wind-speed probability models and two wind turbines of 330 and 800 kW rated power are used in this paper. Among the general conclusions obtained, the following can be pointed out: (a) that the R{sub a}{sup 2} statistic might be useful as an initial gross indicator of the relative error made in the mean annual power output estimation of a WECS when a probabilistic method is employed; (b) the relative errors tend to decrease, in accordance with a trend line defined by a second-order polynomial, as R{sub a}{sup 2} increases. (author)

  14. Estimating direct and indirect rebound effects by supply-driven input-output model: A case study of Taiwan's industry

    International Nuclear Information System (INIS)

    Wu, Kuei-Yen; Wu, Jung-Hua; Huang, Yun-Hsun; Fu, Szu-Chi; Chen, Chia-Yon

    2016-01-01

    Most existing literature focuses on the direct rebound effect on the demand side for consumers. This study analyses direct and indirect rebound effects in Taiwan's industry from the perspective of producers. However, most studies on the producers' viewpoint may overlook inter-industry linkages. This study applies a supply-driven input-output model to quantify the magnitude of rebound effects by explicitly considering inter-industry linkages. Empirical results showed that total rebound effects for most Taiwan's sectors were less than 10% in 2011. A comparison among the sectors yields that sectors with lower energy efficiency had higher direct rebound effects, while sectors with higher forward linkages generated higher indirect rebound effects. Taking the Mining sector (S3) as an example, which is an upstream supplier and has high forward linkages; it showed high indirect rebound effects that are derived from the accumulation of additional energy consumption by its downstream producers. The findings also showed that in almost all sectors, indirect rebound effects were higher than direct rebound effects. In other words, if indirect rebound effects are neglected, the total rebound effects will be underestimated. Hence, the energy-saving potential may be overestimated. - Highlights: • This study quantifies rebound effects by a supply-driven input-output model. • For most Taiwan's sectors, total rebound magnitudes were less than 10% in 2011. • Direct rebound effects and energy efficiency were inverse correlation. • Indirect rebound effects and industrial forward linkages were positive correlation. • Indirect rebound effects were generally higher than direct rebound effects.

  15. Current and future groundwater recharge in West Africa as estimated from a range of coupled climate model outputs

    Science.gov (United States)

    Verhoef, Anne; Cook, Peter; Black, Emily; Macdonald, David; Sorensen, James

    2017-04-01

    This research addresses the terrestrial water balance for West Africa. Emphasis is on the prediction of groundwater recharge and how this may change in the future, which has relevance to the management of surface and groundwater resources. The study was conducted as part of the BRAVE research project, "Building understanding of climate variability into planning of groundwater supplies from low storage aquifers in Africa - Second Phase", funded under the NERC/DFID/ESRC Programme, Unlocking the Potential of Groundwater for the Poor (UPGro). We used model output data of water balance components (precipitation, surface and subsurface run-off, evapotranspiration and soil moisture content) from ERA-Interim/ERA-LAND reanalysis, CMIP5, and high resolution model runs with HadGEM3 (UPSCALE; Mizielinski et al., 2014), for current and future time-periods. Water balance components varied widely between the different models; variation was particularly large for sub-surface runoff (defined as drainage from the bottom-most soil layer of each model). In-situ data for groundwater recharge obtained from the peer-reviewed literature were compared with the model outputs. Separate off-line model sensitivity studies with key land surface models were performed to gain understanding of the reasons behind the model differences. These analyses were centered on vegetation, and soil hydraulic parameters. The modelled current and future recharge time series that had the greatest degree of confidence were used to examine the spatiotemporal variability in groundwater storage. Finally, the implications for water supply planning were assessed. Mizielinski, M.S. et al., 2014. High-resolution global climate modelling: the UPSCALE project, a large-simulation campaign. Geoscientific Model Development, 7(4), pp.1629-1640.

  16. Use of Bayesian networks classifiers for long-term mean wind turbine energy output estimation at a potential wind energy conversion site

    Energy Technology Data Exchange (ETDEWEB)

    Carta, Jose A. [Department of Mechanical Engineering, University of Las Palmas de Gran Canaria, Campus de Tafira s/n, 35017 Las Palmas de Gran Canaria, Canary Islands (Spain); Velazquez, Sergio [Department of Electronics and Automatics Engineering, University of Las Palmas de Gran Canaria, Campus de Tafira s/n, 35017 Las Palmas de Gran Canaria, Canary Islands (Spain); Matias, J.M. [Department of Statistics, University of Vigo, Lagoas Marcosende, 36200 Vigo (Spain)

    2011-02-15

    Due to the interannual variability of wind speed a feasibility analysis for the installation of a Wind Energy Conversion System at a particular site requires estimation of the long-term mean wind turbine energy output. A method is proposed in this paper which, based on probabilistic Bayesian networks (BNs), enables estimation of the long-term mean wind speed histogram for a site where few measurements of the wind resource are available. For this purpose, the proposed method allows the use of multiple reference stations with a long history of wind speed and wind direction measurements. That is to say, the model that is proposed in this paper is able to involve and make use of regional information about the wind resource. With the estimated long-term wind speed histogram and the power curve of a wind turbine it is possible to use the method of bins to determine the long-term mean energy output for that wind turbine. The intelligent system employed, the knowledgebase of which is a joint probability function of all the model variables, uses efficient calculation techniques for conditional probabilities to perform the reasoning. This enables automatic model learning and inference to be performed efficiently based on the available evidence. The proposed model is applied in this paper to wind speeds and wind directions recorded at four weather stations located in the Canary Islands (Spain). Ten years of mean hourly wind speed and direction data are available for these stations. One of the conclusions reached is that the BN with three reference stations gave fewer errors between the real and estimated long-term mean wind turbine energy output than when using two measure-correlate-predict algorithms which were evaluated and which use a linear regression between the candidate station and one reference station. (author)

  17. Use of Bayesian networks classifiers for long-term mean wind turbine energy output estimation at a potential wind energy conversion site

    International Nuclear Information System (INIS)

    Carta, Jose A.; Velazquez, Sergio; Matias, J.M.

    2011-01-01

    Due to the interannual variability of wind speed a feasibility analysis for the installation of a Wind Energy Conversion System at a particular site requires estimation of the long-term mean wind turbine energy output. A method is proposed in this paper which, based on probabilistic Bayesian networks (BNs), enables estimation of the long-term mean wind speed histogram for a site where few measurements of the wind resource are available. For this purpose, the proposed method allows the use of multiple reference stations with a long history of wind speed and wind direction measurements. That is to say, the model that is proposed in this paper is able to involve and make use of regional information about the wind resource. With the estimated long-term wind speed histogram and the power curve of a wind turbine it is possible to use the method of bins to determine the long-term mean energy output for that wind turbine. The intelligent system employed, the knowledgebase of which is a joint probability function of all the model variables, uses efficient calculation techniques for conditional probabilities to perform the reasoning. This enables automatic model learning and inference to be performed efficiently based on the available evidence. The proposed model is applied in this paper to wind speeds and wind directions recorded at four weather stations located in the Canary Islands (Spain). Ten years of mean hourly wind speed and direction data are available for these stations. One of the conclusions reached is that the BN with three reference stations gave fewer errors between the real and estimated long-term mean wind turbine energy output than when using two measure-correlate-predict algorithms which were evaluated and which use a linear regression between the candidate station and one reference station.

  18. Studies on the power output of a MADE AE-30 operating on complex terrain. Annual Energy Production estimation and Multivariable analysis. A case of multi-stall effect

    Energy Technology Data Exchange (ETDEWEB)

    Cuerva, A.

    1996-12-01

    The main need of the EWTS-II Sub-project IV group is to have a suitable data-base which allows it to reach proper conclusions on the characteristics of power performance of wind turbines in complex terrain. With this aim, this document presents an analysis on the power output of the MADE AE-30 Wind turbine operating at Tarifa (also data from flat terrain are enclosed as a reference). An application of the bin method and AEP estimation for energy production method, in the two last issues a directional analysis and an study for two different turbulence intensity ranges are enclosed. Finally the Stepwise multirregression method is applied on the measurements to identify the stored parameters that have influence on the power output. A brief description of multi stall effect is enclosed. (Author)

  19. Studies on the power output of a MADEAE-30 operating on complex terrain. Annual Energy Production estimation and Multivariable analysis. A case of multi-stall effect

    International Nuclear Information System (INIS)

    Cuerva, A.

    1996-01-01

    The main need of the EWTS-II Sub-project IV group is to have a suitable data-base which allows it to reach proper conclusions on the characteristics of power performance of wind turbines in complex terrain. With this aim, this document presents an analysis on the power output of the MADE AE-30 Wind turbine operating at Tarifa (also data from flat terrain are enclosed as a reference). An application of the bin method and AEP estimation for energy production method. In the two last issues a directional analysis and an study for two different turbulence intensity ranges are enclosed. Finally the STEPWISE multirregression method is applied on the measurements to identify the stored parameters that have influence on the power output. A brief description of multi stall effect is enclosed. (Author) 7 refs

  20. A remark on "Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity"

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Lottin, Jacques

    2002-01-01

    For original paper see T.I.Fossen and M.Blanke, ibid., vol.25, pp.241-55 (2000). In the work presented by Fossen and Blanke, a nonlinear observer for estimation of propeller axial flow velocity for UUVs was introduced. The proof of the convergence behavior of the observer was carried out with a L......For original paper see T.I.Fossen and M.Blanke, ibid., vol.25, pp.241-55 (2000). In the work presented by Fossen and Blanke, a nonlinear observer for estimation of propeller axial flow velocity for UUVs was introduced. The proof of the convergence behavior of the observer was carried out...

  1. Pose and Wind Estimation for Autonomous Parafoils

    Science.gov (United States)

    2014-09-01

    Precision Airdrop System LIDAR light detection and ranging LOP line of position MCADS Maritime Craft Air Delivery System MEMS micro-electro-mechanical...least squares SLAM simultaneous localization and mapping SPS standard positioning service TIP Turn Initiation Point TMA target motion analysis TNT...improvements and further testing on the WindPack [45]. Most recently, Herrmann proposed the use of a ground-based lidar wind measurement system to transmit

  2. Output-Only Modal Parameter Recursive Estimation of Time-Varying Structures via a Kernel Ridge Regression FS-TARMA Approach

    Directory of Open Access Journals (Sweden)

    Zhi-Sai Ma

    2017-01-01

    Full Text Available Modal parameter estimation plays an important role in vibration-based damage detection and is worth more attention and investigation, as changes in modal parameters are usually being used as damage indicators. This paper focuses on the problem of output-only modal parameter recursive estimation of time-varying structures based upon parameterized representations of the time-dependent autoregressive moving average (TARMA. A kernel ridge regression functional series TARMA (FS-TARMA recursive identification scheme is proposed and subsequently employed for the modal parameter estimation of a numerical three-degree-of-freedom time-varying structural system and a laboratory time-varying structure consisting of a simply supported beam and a moving mass sliding on it. The proposed method is comparatively assessed against an existing recursive pseudolinear regression FS-TARMA approach via Monte Carlo experiments and shown to be capable of accurately tracking the time-varying dynamics in a recursive manner.

  3. Exemplar-based human action pose correction.

    Science.gov (United States)

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

    2014-07-01

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

  4. 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...... the handles for each pose. Using Laplacian editing, the deformable parts are deformed to match the handles. In our animation system the user can constrain one or several handles in order to define a new pose. New poses are interpolated from the examples poses, by solving a small non-linear optimization...... 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....

  5. Estimation of peak oxygen uptake from maximal power output among 9-10 year-old children in Lhasa, Tibet

    DEFF Research Database (Denmark)

    Bianba, B; Berntsen, S; Andersen, Lars Bo

    2010-01-01

    with the equations from the present study. None of the three could accurately predict the direct measured V.O2peak, and predictions differed in an unsystematic manner, including over- or underestimation and no differentiation between genders. CONCLUSION: Peak oxygen uptake could be estimated from Wmax and sex...

  6. A new estimator for sensitivity analysis of model output: An application to the e-business readiness composite indicator

    International Nuclear Information System (INIS)

    Tarantola, Stefano; Nardo, Michela; Saisana, Michaela; Gatelli, Debora

    2006-01-01

    In this paper we propose and test a generalisation of the method originally proposed by Sobol', and recently extended by Saltelli, to estimate the first-order and total effect sensitivity indices. Exploiting the symmetries and the dualities of the formulas, we obtain additional estimates of first-order and total indices at no extra computational cost. We test the technique on a case study involving the construction of a composite indicator of e-business readiness, which is part of the initiative 'e-Readiness of European enterprises' of the European Commission 'e-Europe 2005' action plan. The method is used to assess the contribution of uncertainties in (a) the weights of the component indicators and (b) the imputation of missing data on the composite indicator values for several European countries

  7. A new estimator for sensitivity analysis of model output: An application to the e-business readiness composite indicator

    Energy Technology Data Exchange (ETDEWEB)

    Tarantola, Stefano [European Commission , Joint Research Centre, Institute for the Protection and Security of the Citizen, Applied Statistics Group, TP 361, Via E. Fermi, 1, Ispra (Vatican City State, Holy See,), 21020 (Italy)]. E-mail: stefano.tarantola@jrc.it; Nardo, Michela [European Commission, Joint Research Centre, Institute for the Protection and Security of the Citizen, Applied Statistics Group, TP 361, Via E. Fermi, 1, Ispra (VA), 21020 (Italy); Saisana, Michaela [European Commission , Joint Research Centre, Institute for the Protection and Security of the Citizen, Applied Statistics Group, TP 361, Via E. Fermi, 1, Ispra (VA), 21020 (Italy); Gatelli, Debora [European Commission , Joint Research Centre, Institute for the Protection and Security of the Citizen, Applied Statistics Group, TP 361, Via E. Fermi, 1, Ispra (VA), 21020 (Italy)

    2006-10-15

    In this paper we propose and test a generalisation of the method originally proposed by Sobol', and recently extended by Saltelli, to estimate the first-order and total effect sensitivity indices. Exploiting the symmetries and the dualities of the formulas, we obtain additional estimates of first-order and total indices at no extra computational cost. We test the technique on a case study involving the construction of a composite indicator of e-business readiness, which is part of the initiative 'e-Readiness of European enterprises' of the European Commission 'e-Europe 2005' action plan. The method is used to assess the contribution of uncertainties in (a) the weights of the component indicators and (b) the imputation of missing data on the composite indicator values for several European countries.

  8. Geophysical excitation of LOD/UT1 estimated from the output of the global circulation models of the atmosphere - ERA-40 reanalysis and of the ocean - OMCT

    Science.gov (United States)

    Korbacz, A.; Brzeziński, A.; Thomas, M.

    2008-04-01

    We use new estimates of the global atmospheric and oceanic angular momenta (AAM, OAM) to study the influence on LOD/UT1. The AAM series was calculated from the output fields of the atmospheric general circulation model ERA-40 reanalysis. The OAM series is an outcome of global ocean model OMCT simulation driven by global fields of the atmospheric parameters from the ERA- 40 reanalysis. The excitation data cover the period between 1963 and 2001. Our calculations concern atmospheric and oceanic effects in LOD/UT1 over the periods between 20 days and decades. Results are compared to those derived from the alternative AAM/OAM data sets.

  9. The art of problem posing

    CERN Document Server

    Brown, Stephen I

    1990-01-01

    Updated and expanded, this second edition satisfies the same philosophical objective as the first -- to show the importance of problem posing. Although interest in mathematical problem solving increased during the past decade, problem posing remained relatively ignored. The Art of Problem Posing draws attention to this equally important act and is the innovator in the field. Special features include: * an exploration ofthe logical relationship between problem posing and problem solving * a special chapter devoted to teaching problem posing as a separate course * sketches, drawings, diagrams, and cartoons that illustrate the schemes proposed * a special section on writing in mathematics.

  10. Determination of Krebs cycle metabolic carbon exchange in vivo and its use to estimate the individual contributions of gluconeogenesis and glycogenolysis to overall glucose output in man

    International Nuclear Information System (INIS)

    Consoli, A.; Kennedy, F.; Miles, J.; Gerich, J.

    1987-01-01

    Current isotopic approaches underestimate gluconeogenesis in vivo because of Krebs cycle carbon exchange and the inability to measure intramitochondrial precursor specific activity. We therefore applied a new isotopic approach that theoretically overcomes these limitations and permits quantification of Krebs cycle carbon exchange and the individual contributions of gluconeogenesis and glycogenolysis to overall glucose outputex. [6-3H]Glucose was infused to measure overall glucose output; [2-14C]acetate was infused to trace phosphoenolpyruvate gluconeogenesis and to calculate Krebs cycle carbon exchange as proposed by Katz. Plasma [14C]3-OH-butyrate specific activity was used to estimate intramitochondrial acetyl coenzyme A (CoA) specific activity, and finally the ratio between plasma glucose 14C-specific activity and the calculated intracellular phosphoenolpyruvate 14C-specific activity was used to determine the relative contributions of gluconeogenesis and glycogenolysis to overall glucose output. Using this approach, acetyl CoA was found to enter the Krebs cycle at twice (postabsorptive subjects) and three times (2 1/2-d fasted subjects) the rate of pyruvate, respectively. Gluconeogenesis in postabsorptive subjects (3.36 +/- 0.20 mumol/kg per min) accounted for 28 +/- 2% of overall glucose output and increased twofold in subjects fasted for 2 1/2-d (P less than 0.01), accounting for greater than 97% of overall glucose output. Glycogenolysis in postabsorptive subjects averaged 8.96 +/- 0.40 mumol/kg per min and decreased to 0.34 +/- 0.08 mumol/kg per min (P less than 0.01) after a 2 1/2-d fast. Since these results agree well with previously reported values for gluconeogenesis and glycogenolysis based on determinations of splanchnic substrate balance and glycogen content of serial liver biopsies

  11. Output-only modal parameter estimator of linear time-varying structural systems based on vector TAR model and least squares support vector machine

    Science.gov (United States)

    Zhou, Si-Da; Ma, Yuan-Chen; Liu, Li; Kang, Jie; Ma, Zhi-Sai; Yu, Lei

    2018-01-01

    Identification of time-varying modal parameters contributes to the structural health monitoring, fault detection, vibration control, etc. of the operational time-varying structural systems. However, it is a challenging task because there is not more information for the identification of the time-varying systems than that of the time-invariant systems. This paper presents a vector time-dependent autoregressive model and least squares support vector machine based modal parameter estimator for linear time-varying structural systems in case of output-only measurements. To reduce the computational cost, a Wendland's compactly supported radial basis function is used to achieve the sparsity of the Gram matrix. A Gamma-test-based non-parametric approach of selecting the regularization factor is adapted for the proposed estimator to replace the time-consuming n-fold cross validation. A series of numerical examples have illustrated the advantages of the proposed modal parameter estimator on the suppression of the overestimate and the short data. A laboratory experiment has further validated the proposed estimator.

  12. Direction-of-arrival estimation for co-located multiple-input multiple-output radar using structural sparsity Bayesian learning

    International Nuclear Information System (INIS)

    Wen Fang-Qing; Zhang Gong; Ben De

    2015-01-01

    This paper addresses the direction of arrival (DOA) estimation problem for the co-located multiple-input multiple-output (MIMO) radar with random arrays. The spatially distributed sparsity of the targets in the background makes compressive sensing (CS) desirable for DOA estimation. A spatial CS framework is presented, which links the DOA estimation problem to support recovery from a known over-complete dictionary. A modified statistical model is developed to accurately represent the intra-block correlation of the received signal. A structural sparsity Bayesian learning algorithm is proposed for the sparse recovery problem. The proposed algorithm, which exploits intra-signal correlation, is capable being applied to limited data support and low signal-to-noise ratio (SNR) scene. Furthermore, the proposed algorithm has less computation load compared to the classical Bayesian algorithm. Simulation results show that the proposed algorithm has a more accurate DOA estimation than the traditional multiple signal classification (MUSIC) algorithm and other CS recovery algorithms. (paper)

  13. Direction-of-arrival estimation for co-located multiple-input multiple-output radar using structural sparsity Bayesian learning

    Science.gov (United States)

    Wen, Fang-Qing; Zhang, Gong; Ben, De

    2015-11-01

    This paper addresses the direction of arrival (DOA) estimation problem for the co-located multiple-input multiple-output (MIMO) radar with random arrays. The spatially distributed sparsity of the targets in the background makes compressive sensing (CS) desirable for DOA estimation. A spatial CS framework is presented, which links the DOA estimation problem to support recovery from a known over-complete dictionary. A modified statistical model is developed to accurately represent the intra-block correlation of the received signal. A structural sparsity Bayesian learning algorithm is proposed for the sparse recovery problem. The proposed algorithm, which exploits intra-signal correlation, is capable being applied to limited data support and low signal-to-noise ratio (SNR) scene. Furthermore, the proposed algorithm has less computation load compared to the classical Bayesian algorithm. Simulation results show that the proposed algorithm has a more accurate DOA estimation than the traditional multiple signal classification (MUSIC) algorithm and other CS recovery algorithms. Project supported by the National Natural Science Foundation of China (Grant Nos. 61071163, 61271327, and 61471191), the Funding for Outstanding Doctoral Dissertation in Nanjing University of Aeronautics and Astronautics, China (Grant No. BCXJ14-08), the Funding of Innovation Program for Graduate Education of Jiangsu Province, China (Grant No. KYLX 0277), the Fundamental Research Funds for the Central Universities, China (Grant No. 3082015NP2015504), and the Priority Academic Program Development of Jiangsu Higher Education Institutions (PADA), China.

  14. Energy output estimation for a small wind turbine positioned on a rooftop in the urban environment with and without a duct

    Energy Technology Data Exchange (ETDEWEB)

    Beller, C.

    2011-05-15

    Nowadays, wind turbines in general, but also urban wind turbines attained acceptance to a certain extend. Conceptual designs and some examples in reality exist, where small-scale wind turbines have been implemented close to buildings or even integrated in the building structure. This work is aiming to estimate how much energy a wind turbine could produce in the built environment, depending on its integration and configuration. On the basis of measurements taken on the rooftop of H.C. Orsted Institut in Copenhagen, which is located in an urban area, a comparison of fictive free standing turbines with ducted turbines of the same type was carried out. First, a prevailing wind energy direction was detected with rough mean velocity and frequency calculations. Next, a duct was aligned with the direction, where the highest energy potential was found. Further calculations were conducted with more detailed wind velocity distributions, depending on the wind direction sectors. The duct's wind velocity amplification capability was set to 14%, while a total opening angle of 30. was assumed to be accessible from both sides. With the simplifying assumptions and the uncertainties at the location of measurement, the free standing turbines had an energy potential of 300kWh/m2/a for the horizontal axis wind turbine (HAWT) and for the vertical axis wind turbine (VAWT) 180kWh/m2/a. For the ducted turbines an energy output of 180kWh/m2/a was found for the HAWT configuration, while the VAWT configuration reached an output of 110kWh/m2/a. The available wind had an energy potential of 730kWh/m2/a. Evaluating these results it seems a free standing turbine is preferable, when only considering the power output, whereas the ducted version comprises properties, which are important considering the requirements needed in the inhabited area such as safety and noise issues. (Author)

  15. Estimation of the contribution of exports to the provincial economy: an analysis based on China's multi-regional input-output tables.

    Science.gov (United States)

    Wu, Sanmang; Li, Shantong; Lei, Yalin

    2016-01-01

    This paper developed an estimation model for the contribution of exports to a country's regional economy based on the Chenery-Moses model and conducted an empirical analysis using China's multi-regional input-output tables for 1997, 2002, and 2007. The results indicated that China's national exports make significantly different contributions to the provincial economy in various regions, with the greatest contribution being observed in the eastern region and the smallest in the central region. The provinces are also subjected to significantly different export spillover effects. The boosting effect for the eastern provinces is primarily generated from local exports, whereas the western provinces primarily benefit from the export spillover effect from the eastern provinces. The eastern provinces, such as Guangdong, Zhejiang, Jiangsu, and Shanghai, are the primary sources of export spillover effects, and Guangdong is the largest source of export spillover effects for almost all of the provinces in China.

  16. 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

  17. Driver head pose tracking with thermal camera

    Science.gov (United States)

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

    2016-09-01

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

  18. Energy Output Estimation for a Small Wind Turbine Positioned on a Rooftop in the Urban Environment with and without a Duct

    DEFF Research Database (Denmark)

    Beller, Christina

    , the free standing turbines had an energy potential of 300kWh/m2/a for the horizontal axis wind turbine (HAWT) and for the vertical axis wind turbine (VAWT) 180kWh/m2/a. For the ducted turbines an energy output of 180kWh/m2/a was found for the HAWT configuration, while the VAWT configuration reached......Nowadays, wind turbines in general, but also urban wind turbines attained acceptance to a certain extend. Conceptual designs and some examples in reality exist, where small-scale wind turbines have been implemented close to buildings or even integrated in the building structure. This work is aiming...... to estimate how much energy a wind turbine could produce in the built environment, depending on its integration and configuration. On the basis of measurements taken on the rooftop of H.C. Ørsted Institut in Copenhagen, which is located in an urban area, a comparison of fictive free standing turbines...

  19. Using GIS mapping of the extent of nearshore rocky reefs to estimate the abundance and reproductive output of important fishery species.

    Directory of Open Access Journals (Sweden)

    Jeremy T Claisse

    Full Text Available Kelp Bass (Paralabrax clathratus and California Sheephead (Semicossyphus pulcher are economically and ecologically valuable rocky reef fishes in southern California, making them likely indicator species for evaluating resource management actions. Multiple spatial datasets, aerial and satellite photography, underwater observations and expert judgment were used to produce a comprehensive map of nearshore natural rocky reef habitat for the Santa Monica Bay region (California, USA. It was then used to examine the relative contribution of individual reefs to a regional estimate of abundance and reproductive potential of the focal species. For the reefs surveyed for fishes (i.e. 18 out of the 22 in the region, comprising 82% the natural rocky reef habitat 30% was produced from a relatively small proportion of the regional reef area (c. 10%. Natural nearshore rocky reefs make up only 11% of the area in the newly designated MPAs in this region, but results provide some optimism that regional fisheries could benefit through an increase in overall reproductive output, if adequate increases in size structure of targeted species are realized.

  20. Estimating raw material equivalents on a macro-level: comparison of multi-regional input-output analysis and hybrid LCI-IO.

    Science.gov (United States)

    Schoer, Karl; Wood, Richard; Arto, Iñaki; Weinzettel, Jan

    2013-12-17

    The mass of material consumed by a population has become a useful proxy for measuring environmental pressure. The "raw material equivalents" (RME) metric of material consumption addresses the issue of including the full supply chain (including imports) when calculating national or product level material impacts. The RME calculation suffers from data availability, however, as quantitative data on production practices along the full supply chain (in different regions) is required. Hence, the RME is currently being estimated by three main approaches: (1) assuming domestic technology in foreign economies, (2) utilizing region-specific life-cycle inventories (in a hybrid framework), and (3) utilizing multi-regional input-output (MRIO) analysis to explicitly cover all regions of the supply chain. While the first approach has been shown to give inaccurate results, this paper focuses on the benefits and costs of the latter two approaches. We analyze results from two key (MRIO and hybrid) projects modeling raw material equivalents, adjusting the models in a stepwise manner in order to quantify the effects of individual conceptual elements. We attempt to isolate the MRIO gap, which denotes the quantitative impact of calculating the RME of imports by an MRIO approach instead of the hybrid model, focusing on the RME of EU external trade imports. While, the models give quantitatively similar results, differences become more pronounced when tracking more detailed material flows. We assess the advantages and disadvantages of the two approaches and look forward to ways to further harmonize data and approaches.

  1. 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.

  2. Is supergravity well-posed?

    International Nuclear Information System (INIS)

    Isenberg, J.; Bao, D.; Yasskin, P.B.

    1983-01-01

    One rather fundamental question concerning supergravity remains unresolved: Is supergravity a well-posed field theory? That is, does a set of certain (Cauchy) data specified on some initial spacelike surface determine a unique, causally propagating spacetime solution of the supergravity field equations (at least in some finite neighborhood of the initial surface)? In this paper, the authors give a very brief report on work directed towards answering this question. (Auth.)

  3. Single-frame 3D human pose recovery from multiple views

    NARCIS (Netherlands)

    Hofmann, M.; Gavrila, D.M.

    2009-01-01

    We present a system for the estimation of unconstrained 3D human upper body pose from multi-camera single-frame views. Pose recovery starts with a shape detection stage where candidate poses are generated based on hierarchical exemplar matching in the individual camera views. The hierarchy used in

  4. Estimation of groundwater recharge via percolation outputs from a rainfall/runoff model for the Verlorenvlei estuarine system, west coast, South Africa

    Science.gov (United States)

    Watson, Andrew; Miller, Jodie; Fleischer, Melanie; de Clercq, Willem

    2018-03-01

    Wetlands are conservation priorities worldwide, due to their high biodiversity and productivity, but are under threat from agricultural and climate change stresses. To improve the water management practices and resource allocation in these complex systems, a modelling approach has been developed to estimate potential recharge for data poor catchments using rainfall data and basic assumptions regarding soil and aquifer properties. The Verlorenvlei estuarine lake (RAMSAR #525) on the west coast of South Africa is a data poor catchment where rainfall records have been supplemented with farmer's rainfall records. The catchment has multiple competing users. To determine the ecological reserve for the wetlands, the spatial and temporal distribution of recharge had to be well constrained using the J2000 rainfall/runoff model. The majority of rainfall occurs in the mountains (±650 mm/yr) and considerably less in the valley (±280 mm/yr). Percolation was modelled as ∼3.6% of rainfall in the driest parts of the catchment, ∼10% of rainfall in the moderately wet parts of the catchment and ∼8.4% but up to 28.9% of rainfall in the wettest parts of the catchment. The model results are representative of rainfall and water level measurements in the catchment, and compare well with water table fluctuation technique, although estimates are dissimilar to previous estimates within the catchment. This is most likely due to the daily timestep nature of the model, in comparison to other yearly average methods. These results go some way in understanding the fact that although most semi-arid catchments have very low yearly recharge estimates, they are still capable of sustaining high biodiversity levels. This demonstrates the importance of incorporating shorter term recharge event modeling for improving recharge estimates.

  5. 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%.

  6. Temporal subtraction of chest radiographs compensating pose differences

    Science.gov (United States)

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

    2011-03-01

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

  7. 6DoF object pose measurement by a monocular manifold-based pattern recognition technique

    International Nuclear Information System (INIS)

    Kouskouridas, Rigas; Charalampous, Konstantinos; Gasteratos, Antonios

    2012-01-01

    In this paper, a novel solution to the compound problem of object recognition and 3D pose estimation is presented. An accurate measurement of the geometrical configuration of a recognized target, relative to a known coordinate system, is of fundamental importance and constitutes a prerequisite for several applications such as robot grasping or obstacle avoidance. The proposed method lays its foundations on the following assumptions: (a) the same object captured under varying viewpoints and perspectives represents data that could be projected onto a well-established and highly distinguishable subspace; (b) totally different objects observed under the same viewpoints and perspectives share identical 3D pose that can be sufficiently modeled to produce a generalized model. Toward this end, we propose an advanced architecture that allows both recognizing patterns and providing efficient solution for 6DoF pose estimation. We employ a manifold modeling architecture that is grounded on a part-based representation of an object, which in turn, is accomplished via an unsupervised clustering of the extracted visual cues. The main contributions of the proposed framework are: (a) the proposed part-based architecture requires minimum supervision, compared to other contemporary solutions, whilst extracting new features encapsulating both appearance and geometrical attributes of the objects; (b) contrary to related projects that extract high-dimensional data, thus, increasing the complexity of the system, the proposed manifold modeling approach makes use of low dimensionality input vectors; (c) the formulation of a novel input–output space mapping that outperforms the existing dimensionality reduction schemes. Experimental results justify our theoretical claims and demonstrate the superiority of our method comparing to other related contemporary projects. (paper)

  8. Method for estimation of the output electric power of PV module with considering environmental factors. Method for estimation of output using I-V curves; Kankyo inshi wo koryoshita taiyo denchi module no shutsuryoku keisanho. I-V tokusei curve ni yoru keisan

    Energy Technology Data Exchange (ETDEWEB)

    Yamagami, Y; Tani, T [Science University of Tokyo, Tokyo (Japan)

    1996-10-27

    Based on the basic quality equation of photovoltaic (PV) cell, a quality equation of PV module has been constructed by considering the spectral distribution of solar radiation and its intensity. A calculation method has been also proposed for determining the output from current-voltage (I-V) curves. Effectiveness of this method was examined by comparing calculated results and observed results. Amorphous Si (a-Si) and polycrystal Si PV modules were examined. By considering the environmental factors, differences of the annual output between the calculated and observed values were reduced from 2.50% to 0.95% for the a-Si PV module, and from 2.52% to 1.24% for the polycrystal Si PV module, which resulted in the reduction more than 50%. For the a-Si PV module, the environmental factor most greatly affecting the annual output was the spectral distribution of solar radiation, which was 3.86 times as large as the cell temperature, and 1.04 times as large as the intensity of solar radiation. For the polycrystal PV module, the environmental factor most greatly affecting the annual output was the cell temperature, which was 7.05 times as large as the spectral distribution of solar radiation, and 1.74 times as large as the intensity of solar radiation. 6 refs., 4 figs., 1 tab.

  9. Unit 16 - Output

    OpenAIRE

    Unit 16, CC in GIS; Star, Jeffrey L.

    1990-01-01

    This unit discusses issues related to GIS output, including the different types of output possible and the hardware for producing each. It describes text, graphic and digital data that can be generated by a GIS as well as line printers, dot matrix printers/plotters, pen plotters, optical scanners and cathode ray tubes (CRTs) as technologies for generating the output.

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

    Science.gov (United States)

    Sang, Gaoli; Li, Jing; Zhao, Qijun

    2016-01-01

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

  11. A Urinary Purine Derivatives Method for Estimating Ruminal Output of Microbial Proteins%尿嘌呤衍生物法估测瘤胃微生物蛋白质产量

    Institute of Scientific and Technical Information of China (English)

    马涛; 刁其玉; 邓凯东

    2011-01-01

    The urinary excretion of purine derivatives method is an effective approach for estimating microprotein output in the rumen. which is non-invasive and easy to operate. The method can accurately estimate the changes of microprotein output in the rumen. It has a lower residual variation and more consistent results. Two improvements are spot sampling method and dahlin method. The advantage of spot sampling method is the determination on appropriate sampling time, by which a high relevance between PD/C ( the ratio of purine derivative to creatinine) and the daily quantity of purine derivatives can be obtained; In dahlin method. inulin. a more reliable urinary marker, is used for estimating daily creatinine excretion. [ Chinese Journal of Animal Nutrition ,2011 ,23 ( 1 ) : 10-14 ]%尿嘌呤衍生物法具有非侵入性和操作方便等优点,是估测微生物蛋白质产量的一种有效方法.该方法能够准确估测瘤胃微生物蛋白质产量的变化,且其残差变异低于其他方法,估测结果的一致性较好.对其改良后的方法有点采样法和菊糖法.点采样法优点在于可以确定恰当的采样时间,保证尿嘌呤衍生物与肌酐的比例(PD/C)与尿嘌呤衍生物日排出量的高相关性;菊糖法是利用了菊糖这种可靠尿液标记物来测定肌酐日排出量.

  12. Manifolds for pose tracking from monocular video

    Science.gov (United States)

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

    2015-03-01

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

  13. Pose-invariant face recognition using Markov random fields.

    Science.gov (United States)

    Ho, Huy Tho; Chellappa, Rama

    2013-04-01

    One of the key challenges for current face recognition techniques is how to handle pose variations between the probe and gallery face images. In this paper, we present a method for reconstructing the virtual frontal view from a given nonfrontal face image using Markov random fields (MRFs) and an efficient variant of the belief propagation algorithm. In the proposed approach, the input face image is divided into a grid of overlapping patches, and a globally optimal set of local warps is estimated to synthesize the patches at the frontal view. A set of possible warps for each patch is obtained by aligning it with images from a training database of frontal faces. The alignments are performed efficiently in the Fourier domain using an extension of the Lucas-Kanade algorithm that can handle illumination variations. The problem of finding the optimal warps is then formulated as a discrete labeling problem using an MRF. The reconstructed frontal face image can then be used with any face recognition technique. The two main advantages of our method are that it does not require manually selected facial landmarks or head pose estimation. In order to improve the performance of our pose normalization method in face recognition, we also present an algorithm for classifying whether a given face image is at a frontal or nonfrontal pose. Experimental results on different datasets are presented to demonstrate the effectiveness of the proposed approach.

  14. 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

  15. Text Detection and Pose Estimation for a Reading Robot

    OpenAIRE

    Bulacu, Marius; Ezaki, Nobuo; Schomaker, Lambert

    2008-01-01

    One very important advantage of using CoCos for text detection is that they naturally allow the analysis to take place across scales. In this approach, scale does not represent such a problematic issue because the CoCo extraction process is scale independent. CoCos give a prompt, but rather imperfect, hold to the structures present in the image and CoCo selection

  16. Input-output supervisor

    International Nuclear Information System (INIS)

    Dupuy, R.

    1970-01-01

    The input-output supervisor is the program which monitors the flow of informations between core storage and peripheral equipments of a computer. This work is composed of three parts: 1 - Study of a generalized input-output supervisor. With sample modifications it looks like most of input-output supervisors which are running now on computers. 2 - Application of this theory on a magnetic drum. 3 - Hardware requirement for time-sharing. (author) [fr

  17. 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.

  18. Baixa dosagem de óxido de cromo para estimativa da produção fecal em bovinos Low level of chromium oxide to estimate faecal output in cattle

    Directory of Open Access Journals (Sweden)

    Henrique Mendonça Nunes Ribeiro Filho

    2008-12-01

    Full Text Available Foi avaliado o uso de baixa dosagem de óxido de cromo (Cr2O3 incorporado em um alimento concentrado para estimativa da produção fecal (PF em bovinos. Para tanto, foram conduzidos quatro ensaios de digestibilidade in vivo utilizando quatro novilhos com peso vivo médio de 214±31kg, recebendo ad libitum no cocho azevém anual (Lolium multiflorum Lam. cortado verde. Aproximadamente 200g de ração contendo 5g kg-1 do indicador foi fornecida diariamente durante 12 dias, sendo feito a coleta de dados e amostras nos últimos cinco dias de cada período. A PF foi medida com o uso de sacolas de coleção total ou estimada com base na concentração do indicador em amostras fecais coletadas duas vezes ao dia (8 e 16h ou a intervalos de duas horas entre 8 e 22h. A concentração média de cromo nas amostras coletadas às 8 e 16h (445mg kg-1 foi semelhante à média geral de todos os horários (447mg kg-1. O grau de recuperação fecal (GR do indicador aumentou linearmente, de aproximadamente 40% para em torno de 80%, com o aumento da concentração fecal de cromo até esta última atingir um valor em torno de 250mg kg-1 de MO. Quando a concentração de cromo nas fezes foi superior a este valor o GR se manteve relativamente constante, em média 76%. A produção fecal foi superestimada pelo indicador em até 35% quando não corrigido para o GR. Quando corrigido para a recuperação fecal, as estimativas de produção fecal de MO estimadas foram similares às observadas. A excreção fecal de bovinos alimentados com azevém pode ser acuradamente estimada com o uso de baixa dosagem de óxido de cromo incorporado em uma ração peletizada concomitante à coleta de duas amostragens diárias de fezes.The aim of this research was to evaluate the use of a low level of chromium oxide (Cr2O3 incorporated into the concentrate ration to estimate faecal output (FO in cattle. Four in vivo digestibility essays were conducted using four steers with live weights of

  19. Output hardcopy devices

    CERN Document Server

    Durbeck, Robert

    1988-01-01

    Output Hardcopy Devices provides a technical summary of computer output hardcopy devices such as plotters, computer output printers, and CRT generated hardcopy. Important related technical areas such as papers, ribbons and inks, color techniques, controllers, and character fonts are also covered. Emphasis is on techniques primarily associated with printing, as well as the plotting capabilities of printing devices that can be effectively used for computer graphics in addition to their various printing functions. Comprised of 19 chapters, this volume begins with an introduction to vector and ras

  20. 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.

  1. 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

  2. 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

  3. Flexible Polyhedral Surfaces with Two Flat Poses

    Directory of Open Access Journals (Sweden)

    Hellmuth Stachel

    2015-05-01

    Full Text Available We present three types of polyhedral surfaces, which are continuously flexible and have not only an initial pose, where all faces are coplanar, but pass during their self-motion through another pose with coplanar faces (“flat pose”. These surfaces are examples of so-called rigid origami, since we only admit exact flexions, i.e., each face remains rigid during the motion; only the dihedral angles vary. We analyze the geometry behind Miura-ori and address Kokotsakis’ example of a flexible tessellation with the particular case of a cyclic quadrangle. Finally, we recall Bricard’s octahedra of Type 3 and their relation to strophoids.

  4. The nucleolus is well-posed

    Science.gov (United States)

    Fragnelli, Vito; Patrone, Fioravante; Torre, Anna

    2006-02-01

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

  5. WRF Model Output

    Data.gov (United States)

    U.S. Environmental Protection Agency — This dataset contains WRF model output. There are three months of data: July 2012, July 2013, and January 2013. For each month, several simulations were made: A...

  6. VMS forms Output Tables

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — These output tables contain parsed and format validated data from the various VMS forms that are sent from any given vessel, while at sea, from the VMS devices on...

  7. Governmentally amplified output volatility

    Science.gov (United States)

    Funashima, Yoshito

    2016-11-01

    Predominant government behavior is decomposed by frequency into several periodic components: updating cycles of infrastructure, Kuznets cycles, fiscal policy over business cycles, and election cycles. Little is known, however, about the theoretical impact of such cyclical behavior in public finance on output fluctuations. Based on a standard neoclassical growth model, this study intends to examine the frequency at which public investment cycles are relevant to output fluctuations. We find an inverted U-shaped relationship between output volatility and length of cycle in public investment. This implies that periodic behavior in public investment at a certain frequency range can cause aggravated output resonance. Moreover, we present an empirical analysis to test the theoretical implication, using the U.S. data in the period from 1968 to 2015. The empirical results suggest that such resonance phenomena change from low to high frequency.

  8. CMAQ Model Output

    Data.gov (United States)

    U.S. Environmental Protection Agency — CMAQ and CMAQ-VBS model output. This dataset is not publicly accessible because: Files too large. It can be accessed through the following means: via EPA's NCC tape...

  9. Pose and Solve Varignon Converse Problems

    Science.gov (United States)

    Contreras, José N.

    2014-01-01

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

  10. Effects of Measurement Error on the Output Gap in Japan

    OpenAIRE

    Koichiro Kamada; Kazuto Masuda

    2000-01-01

    Potential output is the largest amount of products that can be produced by fully utilizing available labor and capital stock; the output gap is defined as the discrepancy between actual and potential output. If data on production factors contain measurement errors, total factor productivity (TFP) cannot be estimated accurately from the Solow residual(i.e., the portion of output that is not attributable to labor and capital inputs). This may give rise to distortions in the estimation of potent...

  11. Method of orthogonally splitting imaging pose measurement

    Science.gov (United States)

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

    2018-01-01

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

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

    DEFF Research Database (Denmark)

    Kalliatakis, Grigorios; Vidakis, Nikolaos; Triantafyllidis, Georgios

    2016-01-01

    Despite significant recent advances in the field of head pose estimation and facial expression recognition, raising the cognitive level when analysing human activity presents serious challenges to current concepts. Motivated by the need of generating comprehensible visual representations from...... 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...

  13. Oil output's changing fortunes

    International Nuclear Information System (INIS)

    Eldridge, D.

    1994-01-01

    The Petroleum Economist, previously the Petroleum Press Service, has been making annual surveys of output levels of petroleum in all the oil-producing countries since its founding in 1934. This article documents trends and changes in the major oil-producing countries output from 1934 until the present. This analysis is linked with the political and historical events accompanying these changes, notably the growth of Middle Eastern oil production, the North Sea finds and most recently, Iraq's invasion of Kuwait in 1990. (UK)

  14. Cardiac output measurement

    Directory of Open Access Journals (Sweden)

    Andreja Möller Petrun

    2014-02-01

    Full Text Available In recent years, developments in the measuring of cardiac output and other haemodynamic variables are focused on the so-called minimally invasive methods. The aim of these methods is to simplify the management of high-risk and haemodynamically unstable patients. Due to the need of invasive approach and the possibility of serious complications the use of pulmonary artery catheter has decreased. This article describes the methods for measuring cardiac output, which are based on volume measurement (Fick method, indicator dilution method, pulse wave analysis, Doppler effect, and electrical bioimpedance.

  15. Skill Levels of Prospective Physics Teachers on Problem Posing

    Science.gov (United States)

    Cildir, Sema; Sezen, Nazan

    2011-01-01

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

  16. Explaining output volatility: The case of taxation

    DEFF Research Database (Denmark)

    Posch, Olaf

    the second moment of output growth rates without (long-run) effects on the first moment. Taking the model to the data, we exploit observed heterogeneity patterns to estimate effects of tax rates on macro volatility using panel estimation, explicitly modeling the unobserved variance process. We find a strong......This paper studies the effects of taxation on output volatility in OECD countries to shed light on the sources of observed heterogeneity over time and across countries. To this end, we derive tax effects on macro aggregates in a stochastic neoclassical model. As a result, taxes are shown to affect...... positive effects....

  17. A Monte Carlo Study on Multiple Output Stochastic Frontiers

    DEFF Research Database (Denmark)

    Henningsen, Géraldine; Henningsen, Arne; Jensen, Uwe

    , dividing all other output quantities by the selected output quantity, and using these ratios as regressors (OD). Another approach is the stochastic ray production frontier (SR) which transforms the output quantities into their Euclidean distance as the dependent variable and their polar coordinates......In the estimation of multiple output technologies in a primal approach, the main question is how to handle the multiple outputs. Often an output distance function is used, where the classical approach is to exploit its homogeneity property by selecting one output quantity as the dependent variable...... of both specifications for the case of a Translog output distance function with respect to different common statistical problems as well as problems arising as a consequence of zero values in the output quantities. Although, our results partly show clear reactions to statistical misspecifications...

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

    International Nuclear Information System (INIS)

    Valli, J.; Hakala, M.; Wanne, T.; Kantia, P.; Siren, T.

    2014-01-01

    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 Olkiluoto

  19. Macrobend optical sensing for pose measurement in soft robot arms

    International Nuclear Information System (INIS)

    Sareh, Sina; Noh, Yohan; Liu, Hongbin; Althoefer, Kaspar; Li, Min; Ranzani, Tommaso

    2015-01-01

    This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic

  20. Novelty Detection for Interactive Pose Recognition by a Social Robot

    Directory of Open Access Journals (Sweden)

    Victor Gonzalez-Pacheco

    2015-04-01

    Full Text Available Active robot learners take an active role in their own learning by making queries to their human teachers when they receive new data. However, not every received input is useful for the robot, and asking for non-informative inputs or asking too many questions might worsen the user's perception of the robot. We present a novelty detection system that enables a robot to ask labels for new stimuli only when they seem both novel and interesting. Our system separates the decision process into two steps: first, it discriminates novel from known stimuli, and second, it estimates if these stimuli are likely to happen again. Our approach uses the notion of curiosity, which controls the eagerness with which the robot asks questions to the user. We evaluate our approach in the domain of pose learning by training our robot with a set of pointing poses able to detect up to 84%, 79%, and 78% of the observed novelties in three different experiments. Our approach enables robots to keep learning continuously, even after training is finished. The introduction of the curiosity parameter allows tuning, for the conditions in which the robot should want to learn more.

  1. Lavrentiev regularization method for nonlinear ill-posed problems

    International Nuclear Information System (INIS)

    Kinh, Nguyen Van

    2002-10-01

    In this paper we shall be concerned with Lavientiev regularization method to reconstruct solutions x 0 of non ill-posed problems F(x)=y o , where instead of y 0 noisy data y δ is an element of X with absolut(y δ -y 0 ) ≤ δ are given and F:X→X is an accretive nonlinear operator from a real reflexive Banach space X into itself. In this regularization method solutions x α δ are obtained by solving the singularly perturbed nonlinear operator equation F(x)+α(x-x*)=y δ with some initial guess x*. Assuming certain conditions concerning the operator F and the smoothness of the element x*-x 0 we derive stability estimates which show that the accuracy of the regularized solutions is order optimal provided that the regularization parameter α has been chosen properly. (author)

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

    Science.gov (United States)

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

    2018-05-01

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

  3. 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.

  4. Assessing exposure risks for aquatic organisms posed by Tamiflu use under seasonal influenza and pandemic conditions

    International Nuclear Information System (INIS)

    Chen, Wei-Yu; Lin, Chia-Jung; Liao, Chung-Min

    2014-01-01

    Environmental pollution by anti-influenza drugs is increasingly recognized as a threat to aquatic environments. However, little is known about empirical data on risk effects posed by environmentally relevant concentrations of anti-influenza drug based on recently published ecotoxicological researches in Taiwan. Here we linked ecotoxicology models with an epidemiological scheme to assess exposure risks of aquatic organisms and environmental hazards posed by antiviral oseltamivir (Tamiflu) use in Taiwan. Built on published bioassays, we used probabilistic risk assessment model to estimate potential threats of environmentally relevant hazards on algae, daphnid, and zerbrafish. We found that Tamiflu use was unlikely to pose a significant chronic environmental risk to daphnia and zebrafish during seasonal influenza. However, the chronic environmental risk posed by Tamiflu use during pandemic was alarming. We conclude that no significant risk to algal growth was found during seasonal influenza and high pandemic Tamiflu use. -- Highlights: • Environmentally relevant concentrations of anti-influenza drug have ecotoxicologically important effects. • Tamiflu is unlikely to pose a significant chronic environmental risk during seasonal influenza. • Chronic environmental risk posed by Tamiflu during pandemic is alarming. • Tertiary process in sewage treatment plants is crucial in mitigating Tamiflu exposure risk. -- A probabilistic framework can be used for assessing exposure risks posed by environmentally relevant concentrations of anti-influenza drug in aquatic ecosystems

  5. Adjustment of regional climate model output for modeling the climatic mass balance of all glaciers on Svalbard.

    NARCIS (Netherlands)

    Möller, M.; Obleitner, F.; Reijmer, C.H.; Pohjola, V.A.; Glowacki, P.; Kohler, J.

    2016-01-01

    Large-scale modeling of glacier mass balance relies often on the output from regional climate models (RCMs). However, the limited accuracy and spatial resolution of RCM output pose limitations on mass balance simulations at subregional or local scales. Moreover, RCM output is still rarely available

  6. Cardiac output during exercise

    DEFF Research Database (Denmark)

    Siebenmann, C; Rasmussen, P.; Sørensen, H.

    2015-01-01

    Several techniques assessing cardiac output (Q) during exercise are available. The extent to which the measurements obtained from each respective technique compares to one another, however, is unclear. We quantified Q simultaneously using four methods: the Fick method with blood obtained from...... the right atrium (Q(Fick-M)), Innocor (inert gas rebreathing; Q(Inn)), Physioflow (impedance cardiography; Q(Phys)), and Nexfin (pulse contour analysis; Q(Pulse)) in 12 male subjects during incremental cycling exercise to exhaustion in normoxia and hypoxia (FiO2  = 12%). While all four methods reported...... a progressive increase in Q with exercise intensity, the slopes of the Q/oxygen uptake (VO2) relationship differed by up to 50% between methods in both normoxia [4.9 ± 0.3, 3.9 ± 0.2, 6.0 ± 0.4, 4.8 ± 0.2 L/min per L/min (mean ± SE) for Q(Fick-M), Q(Inn), QP hys and Q(Pulse), respectively; P = 0...

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

    Science.gov (United States)

    Grundmeier, Todd A.

    2002-01-01

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

  8. 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...

  9. Transfer between Pose and Illumination Training in Face Recognition

    Science.gov (United States)

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

    2009-01-01

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

  10. 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.

  11. Problems in Modelling Charge Output Accelerometers

    Directory of Open Access Journals (Sweden)

    Tomczyk Krzysztof

    2016-12-01

    Full Text Available The paper presents major issues associated with the problem of modelling change output accelerometers. The presented solutions are based on the weighted least squares (WLS method using transformation of the complex frequency response of the sensors. The main assumptions of the WLS method and a mathematical model of charge output accelerometers are presented in first two sections of this paper. In the next sections applying the WLS method to estimation of the accelerometer model parameters is discussed and the associated uncertainties are determined. Finally, the results of modelling a PCB357B73 charge output accelerometer are analysed in the last section of this paper. All calculations were executed using the MathCad software program. The main stages of these calculations are presented in Appendices A−E.

  12. Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

    Science.gov (United States)

    Williams, Brian; Hudson, Nicolas; Tweddle, Brent; Brockers, Roland; Matthies, Larry

    2011-01-01

    A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

  13. Output gap uncertainty and real-time monetary policy

    Directory of Open Access Journals (Sweden)

    Francesco Grigoli

    2015-12-01

    Full Text Available Output gap estimates are subject to a wide range of uncertainty owing principally to the difficulty in distinguishing between cycle and trend in real time. We show that country desks tend to overestimate economic slack, especially during recessions, and that uncertainty in initial output gap estimates persists several years. Only a small share of output gap revisions is predictable based on output dynamics, data quality, and policy frameworks. We also show that for a group of Latin American inflation targeters the prescriptions from monetary policy rules are subject to large changes due to revised output gap estimates. These explain a sizable proportion of the deviation of inflation from target, suggesting this information is not accounted for in real-time policy decisions.

  14. Inverter communications using output signal

    Science.gov (United States)

    Chapman, Patrick L.

    2017-02-07

    Technologies for communicating information from an inverter configured for the conversion of direct current (DC) power generated from an alternative source to alternating current (AC) power are disclosed. The technologies include determining information to be transmitted from the inverter over a power line cable connected to the inverter and controlling the operation of an output converter of the inverter as a function of the information to be transmitted to cause the output converter to generate an output waveform having the information modulated thereon.

  15. Model output: fact or artefact?

    Science.gov (United States)

    Melsen, Lieke

    2015-04-01

    As a third-year PhD-student, I relatively recently entered the wonderful world of scientific Hydrology. A science that has many pillars that directly impact society, for example with the prediction of hydrological extremes (both floods and drought), climate change, applications in agriculture, nature conservation, drinking water supply, etcetera. Despite its demonstrable societal relevance, hydrology is often seen as a science between two stools. Like Klemeš (1986) stated: "By their academic background, hydrologists are foresters, geographers, electrical engineers, geologists, system analysts, physicists, mathematicians, botanists, and most often civil engineers." Sometimes it seems that the engineering genes are still present in current hydrological sciences, and this results in pragmatic rather than scientific approaches for some of the current problems and challenges we have in hydrology. Here, I refer to the uncertainty in hydrological modelling that is often neglected. For over thirty years, uncertainty in hydrological models has been extensively discussed and studied. But it is not difficult to find peer-reviewed articles in which it is implicitly assumed that model simulations represent the truth rather than a conceptualization of reality. For instance in trend studies, where data is extrapolated 100 years ahead. Of course one can use different forcing datasets to estimate the uncertainty of the input data, but how to prevent that the output is not a model artefact, caused by the model structure? Or how about impact studies, e.g. of a dam impacting river flow. Measurements are often available for the period after dam construction, so models are used to simulate river flow before dam construction. Both are compared in order to qualify the effect of the dam. But on what basis can we tell that the model tells us the truth? Model validation is common nowadays, but validation only (comparing observations with model output) is not sufficient to assume that a

  16. Pose Planning for the Feed Support System of FAST

    Directory of Open Access Journals (Sweden)

    Rui Yao

    2014-01-01

    Full Text Available A six-cable driven parallel manipulator and an A-B rotator in the feed support system of the Five-hundred-meter Aperture Spherical radio Telescope (FAST are adopted for realizing the position and pose of nine feeds. The six-cable driven parallel manipulator is a flexible mechanism, which may not be stably controlled due to a small cable tension. The A-B rotator is a rigid mechanism, and its stability and accuracy can be improved by small pose angle. Based on the different characteristics, a pose planning function is presented. The optimization target of the pose planning function is to get the smallest pose angle of the A-B rotator, and the constraint condition can reflect the controllability of the six-cable driven parallel manipulator. Then, the pose planning realization process of the feed support system is proposed. Based on the pose planning method, optimized pose angles of the feed support system for the nine feeds are obtained, which suggests that the pose angle of the six-cable driven parallel manipulator changes from 0° to 14° and the pose angle of the A-B rotator changes from 0° to 26.4°.

  17. 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.

  18. 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.

  19. 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....

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

    Science.gov (United States)

    Yu, Jialin; Sun, Jifeng

    2018-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

  2. X-ray examinations pose little risk

    International Nuclear Information System (INIS)

    Servomaa, A.; Komppa, T.

    1997-01-01

    X-ray examinations account for about 15 per cent of Finns' radiation exposure and for roughly one out of a hundred deaths from cancer. The risk is small when compared to other risks in life and to the health benefits obtained from the examinations. About 4.1 million x-ray examinations were conducted in Finland in 1995, i.e. an average of 0.8 examinations per inhabitant. The mean effective dose was about 0.67 mSv per examination and about 0.54 mSv per inhabitant. Natural background radiation causes an annual radiation dose of approximately 3 mSv per person. Examinations of bones and soft tissues accounted for the highest number of x-ray images, roughly 2.1 million, of which half were examinations of the extremities. Some 1.3 million x-ray images were taken of the pulmonary organs, most of them being examinations of the lungs. Computed tomography and examinations of the gastrointestinal tract accounted for about 130,000 images each. To assess the radiation risk involved in x-ray examinations, we need knowledge or an estimate of the radiation doses of organs sensitive to radiation. Efficient calculation methods are available for this purpose. (orig.)

  3. 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

  4. 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.

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

    Science.gov (United States)

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

    2018-04-01

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

  6. Enhanced performance CCD output amplifier

    Science.gov (United States)

    Dunham, Mark E.; Morley, David W.

    1996-01-01

    A low-noise FET amplifier is connected to amplify output charge from a che coupled device (CCD). The FET has its gate connected to the CCD in common source configuration for receiving the output charge signal from the CCD and output an intermediate signal at a drain of the FET. An intermediate amplifier is connected to the drain of the FET for receiving the intermediate signal and outputting a low-noise signal functionally related to the output charge signal from the CCD. The amplifier is preferably connected as a virtual ground to the FET drain. The inherent shunt capacitance of the FET is selected to be at least equal to the sum of the remaining capacitances.

  7. Money and Output: A Test of Reverse Causation.

    OpenAIRE

    Coleman, Wilbur John, II

    1996-01-01

    This paper attempts to explain the correlation between money and output at various leads and lags with a model in which money is largely neutral and endogenously responds to output. Money is endogenous because both monetary policy and deposit creation are endogenous. Parameters are selected according to the simulated moments estimation technique. While the estimated model succeeds along some dimensions in matching properties of postwar U.S. data, its failure to match key patterns of lead-lag ...

  8. Global Sensitivity Analysis for multivariate output using Polynomial Chaos Expansion

    International Nuclear Information System (INIS)

    Garcia-Cabrejo, Oscar; Valocchi, Albert

    2014-01-01

    Many mathematical and computational models used in engineering produce multivariate output that shows some degree of correlation. However, conventional approaches to Global Sensitivity Analysis (GSA) assume that the output variable is scalar. These approaches are applied on each output variable leading to a large number of sensitivity indices that shows a high degree of redundancy making the interpretation of the results difficult. Two approaches have been proposed for GSA in the case of multivariate output: output decomposition approach [9] and covariance decomposition approach [14] but they are computationally intensive for most practical problems. In this paper, Polynomial Chaos Expansion (PCE) is used for an efficient GSA with multivariate output. The results indicate that PCE allows efficient estimation of the covariance matrix and GSA on the coefficients in the approach defined by Campbell et al. [9], and the development of analytical expressions for the multivariate sensitivity indices defined by Gamboa et al. [14]. - Highlights: • PCE increases computational efficiency in 2 approaches of GSA of multivariate output. • Efficient estimation of covariance matrix of output from coefficients of PCE. • Efficient GSA on coefficients of orthogonal decomposition of the output using PCE. • Analytical expressions of multivariate sensitivity indices from coefficients of PCE

  9. GDP Growth, Potential Output, and Output Gaps in Mexico

    OpenAIRE

    Ebrima A Faal

    2005-01-01

    This paper analyzes the sources of Mexico's economic growth since the 1960s and compares various decompositions of historical growth into its trend and cyclical components. The role of the implied output gaps in the inflationary process is then assessed. Looking ahead, the paper presents medium-term paths for GDP based on alternative assumptions for productivity growth rates. The results indicate that the most important factor underlying the slowdown in output growth was a decline in trend to...

  10. Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

    Directory of Open Access Journals (Sweden)

    Wolniakowski Adam

    2018-03-01

    Full Text Available The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015. We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.

  11. Asynchronous vehicle pose correction using visual detection of ground features

    International Nuclear Information System (INIS)

    Harnarinesingh, Randy E S; Syan, Chanan S

    2014-01-01

    The inherent noise associated with odometry manifests itself as errors in localization for autonomous vehicles. Visual odometry has been previously used in order to supplement classical vehicle odometry. However, visual odometry is limited in its ability to reduce errors in localization for large travel distances that entail the cumulative summing of individual frame-to-frame image errors. In this paper, a novel machine vision approach for tiled surfaces is proposed to address this problem. Tile edges in a laboratory environment are used to define a travel trajectory for the Quansar Qbot (autonomous vehicle) built on the iRobot iRoomba platform with a forward facing camera. Tile intersections are used to enable asynchronous error recovery for vehicle position and orientation. The proposed approach employs real-time image classification and is feasible for error mitigation for large travel distances. The average position error for an 8m travel distance using classical odometry was measured to be 0.28m. However, implementation of the proposed approach resulted in an error of 0.028m. The proposed approach therefore significantly reduces pose estimation error and could be used to supplement existing modalities such as GPS and Laser-based range sensors

  12. 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…

  13. Standard diffusive systems are well-posed linear systems

    NARCIS (Netherlands)

    Matignon, Denis; Zwart, Heiko J.

    2004-01-01

    The class of well-posed linear systems as introduced by Salamon has become a well-understood class of systems, see e.g. the work of Weiss and the book of Staffans. Many partial partial differential equations with boundary control and point observation can be formulated as a well-posed linear system.

  14. 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.

  15. Turkish Primary School Teachers' Opinions about Problem Posing

    Science.gov (United States)

    Kilic, Cigdem

    2013-01-01

    Problem posing is one of the most important topics in a mathematics education. Through problem posing, students gain mathematical abilities and concepts and teachers can evaluate their students and arrange adequate learning environments. The aim of the present study is to investigate Turkish primary school teachers' opinions about problem posing…

  16. A Monte Carlo study on multiple output stochastic frontiers

    DEFF Research Database (Denmark)

    Henningsen, Geraldine; Henningsen, Arne; Jensen, Uwe

    2015-01-01

    , dividing all other output quantities by the selected outputquantity, and using these ratios as regressors (OD). Another approach is the stochasticray production frontier (SR), which transforms the output quantities into their Euclideandistance as the dependent variable and their polar coordinates...... of the approaches is clearly superior. However, considerable differences are found between the estimates at single replications. Taking average efficiencies from both approaches gives clearly better efficiency estimates than taking just the OD or the SR. In the case of zero values in the output quantities, the SR...

  17. TECHNIQUE OF ESTIMATION OF ERROR IN THE REFERENCE VALUE OF THE DOSE DURING THE LINEAR ACCELERATOR RADIATION OUTPUT CALIBRATION PROCEDURE. Part 2. Dependence on the characteristics of collimator, optical sourse-distance indicator, treatment field, lasers and treatment couch

    Directory of Open Access Journals (Sweden)

    Y. V. Tsitovich

    2016-01-01

    Full Text Available To ensure the safety of radiation oncology patients needed to provide consistent functional characteristics of the medical linear accelerators, which affect the accuracy of dose delivery. To this end, their quality control procedures, which include the calibration of radiation output of the linac, the error in determining the dose reference value during which must not exceed 2 %, is provided. The aim is to develop a methodology for determining the error (difference between a measured value of quantity and its true value in determining this value, depending on the characteristics of the collimator, the source to surface distance pointer, lasers, radiation field and treatment table. To achieve the objectives have been carried out dosimetric measurements of Trilogy S/N 3567 linac dose distributions, on the basis of which dose errors depending on the accuracy setting the zero position of the collimator, the deviation of the collimator rotation isocenter, the sourcesurface distance pointer accuracy, field size accuracy, the accuracy of lasers and treatment table positioning were obtained. It was found that the greatest impact on the value of the error has the error in the optical SSD indication and the error in the lasers position in the plane perpendicular to the plane of incidence of the radiation beam (up to 3.64 % for the energy of 6 MV. Dose errors caused by error in the field size were different for two photon energies, and reached 2.54 % for 6 MeV and 1.33% for 18 MeV. Errors caused by the rest of the characteristic do not exceed 1 %. Thus, it is possible to express the results of periodic quality control of these devices integrated in linac in terms of dose and use them to conduct a comprehensive assessment of the possibility of clinical use of a linear accelerator for oncology patients irradiation on the basis of the calibration of radiation output in case of development of techniques that allow to analyze the influence dosimetric

  18. Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

    National Research Council Canada - National Science Library

    Lee, DongBin; Burg, Timothy; Xian, Bin; Dawson, Darren

    2006-01-01

    ...) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable...

  19. Animated pose templates for modeling and detecting human actions.

    Science.gov (United States)

    Yao, Benjamin Z; Nie, Bruce X; Liu, Zicheng; Zhu, Song-Chun

    2014-03-01

    This paper presents animated pose templates (APTs) for detecting short-term, long-term, and contextual actions from cluttered scenes in videos. Each pose template consists of two components: 1) a shape template with deformable parts represented in an And-node whose appearances are represented by the Histogram of Oriented Gradient (HOG) features, and 2) a motion template specifying the motion of the parts by the Histogram of Optical-Flows (HOF) features. A shape template may have more than one motion template represented by an Or-node. Therefore, each action is defined as a mixture (Or-node) of pose templates in an And-Or tree structure. While this pose template is suitable for detecting short-term action snippets in two to five frames, we extend it in two ways: 1) For long-term actions, we animate the pose templates by adding temporal constraints in a Hidden Markov Model (HMM), and 2) for contextual actions, we treat contextual objects as additional parts of the pose templates and add constraints that encode spatial correlations between parts. To train the model, we manually annotate part locations on several keyframes of each video and cluster them into pose templates using EM. This leaves the unknown parameters for our learning algorithm in two groups: 1) latent variables for the unannotated frames including pose-IDs and part locations, 2) model parameters shared by all training samples such as weights for HOG and HOF features, canonical part locations of each pose, coefficients penalizing pose-transition and part-deformation. To learn these parameters, we introduce a semi-supervised structural SVM algorithm that iterates between two steps: 1) learning (updating) model parameters using labeled data by solving a structural SVM optimization, and 2) imputing missing variables (i.e., detecting actions on unlabeled frames) with parameters learned from the previous step and progressively accepting high-score frames as newly labeled examples. This algorithm belongs to a

  20. Output

    DEFF Research Database (Denmark)

    Mehlsen, Camilla

    2010-01-01

    Hvad får vi egentlig ud af internationale komparative undersøgelser som PISA, PIRLS og TIMSS? Hvordan påvirker de dansk uddannelsespolitik? Asterisk har talt med tre forskere med ekspertise på området.......Hvad får vi egentlig ud af internationale komparative undersøgelser som PISA, PIRLS og TIMSS? Hvordan påvirker de dansk uddannelsespolitik? Asterisk har talt med tre forskere med ekspertise på området....

  1. Comparison On Matching Methods Used In Pose Tracking For 3D Shape Representation

    Directory of Open Access Journals (Sweden)

    Khin Kyu Kyu Win

    2017-01-01

    Full Text Available In this work three different algorithms such as Brute Force Delaunay Triangulation and k-d Tree are analyzed on matching comparison for 3D shape representation. It is intended for developing the pose tracking of moving objects in video surveillance. To determine 3D pose of moving objects some tracking system may require full 3D pose estimation of arbitrarily shaped objects in real time. In order to perform 3D pose estimation in real time each step in the tracking algorithm must be computationally efficient. This paper presents method comparison for the computationally efficient registration of 3D shapes including free-form surfaces. Matching of free-form surfaces are carried out by using geometric point matching algorithm ICP. Several aspects of the ICP algorithm are investigated and analyzed by using specified surface setup. The surface setup processed in this system is represented by simple geometric primitive dealing with objects of free-from shape. Considered representations are a cloud of points.

  2. 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.

  3. 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

    2016-01-01

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

  4. 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.

  5. Web-based visualisation of head pose and facial expressions changes: monitoring human activity using depth data

    OpenAIRE

    Kalliatakis, Grigorios; Vidakis, Nikolaos; Triantafyllidis, Georgios

    2017-01-01

    Despite significant recent advances in the field of head pose estimation and facial expression recognition, raising the cognitive level when analysing human activity presents serious challenges to current concepts. Motivated by the need of generating comprehensible visual representations from different sets of data, we introduce a system capable of monitoring human activity through head pose and facial expression changes, utilising an affordable 3D sensing technology (Microsoft Kinect sensor)...

  6. ESPRIT: Exercise Sensing and Pose Recovery Inference Tool, Phase I

    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...

  7. 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 ...

  8. 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.

  9. Output, renewable energy consumption and trade in Africa

    International Nuclear Information System (INIS)

    Ben Aïssa, Mohamed Safouane; Ben Jebli, Mehdi; Ben Youssef, Slim

    2014-01-01

    We use panel cointegration techniques to examine the relationship between renewable energy consumption, trade and output in a sample of 11 African countries covering the period 1980–2008. The results from panel error correction model reveal that there is evidence of a bidirectional causality between output and exports and between output and imports in both the short and long-run. However, in the short-run, there is no evidence of causality between output and renewable energy consumption and between trade (exports or imports) and renewable energy consumption. Also, in the long-run, there is no causality running from output or trade to renewable energy. In the long-run, our estimations show that renewable energy consumption and trade have a statistically significant and positive impact on output. Our energy policy recommendations are that national authorities should design appropriate fiscal incentives to encourage the use of renewable energies, create more regional economic integration for renewable energy technologies, and encourage trade openness because of its positive impact on technology transfer and on output. - Highlights: • We examine the relationship between renewable energy consumption, trade and output in African countries. • There is a bidirectional causality between output and trade in both the short and long-run. • In the short-run, there is no causality between renewable energy consumption and trade or output. • In the long-run, renewable energy consumption and trade have a statistically significant positive impact on output. • African authorities should encourage trade openness because of its positive impact on technology transfer and on output

  10. 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.

  11. Redesign lifts prep output 288%

    Energy Technology Data Exchange (ETDEWEB)

    Hamric, J

    1987-02-01

    This paper outlines the application of engineering creativity and how it brought output at an Ohio coal preparation plant up from 12,500 tpd to nearly four times that figure, 48,610 tpd. By streamlining the conveyor systems, removing surplus belt length and repositioning subplants the whole operation was able to run far more efficiently with a greater output. Various other alterations including the raw material supply and management and operating practices were also undertaken to provide a test for the achievements possible with such reorganization. The new developments have been in the following fields: fine coal cleaning, heavy media cyclones, feeders, bins, filter presses, dewatering equipment and settling tanks. Output is now limited only by the reduced demand by the Gavin power station nearby.

  12. On output measurements via radiation pressure

    DEFF Research Database (Denmark)

    Leeman, S.; Healey, A.J.; Forsberg, F.

    1990-01-01

    It is shown, by simple physical argument, that measurements of intensity with a radiation pressure balance should not agree with those based on calorimetric techniques. The conclusion is ultimately a consequence of the circumstance that radiation pressure measurements relate to wave momentum, while...... calorimetric methods relate to wave energy. Measurements with some typical ultrasound fields are performed with a novel type of hydrophone, and these allow an estimate to be made of the magnitude of the discrepancy to be expected between the two types of output measurement in a typical case....

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

    Science.gov (United States)

    Kanhangad, Vivek; Kumar, Ajay; Zhang, David

    2011-05-01

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

  14. Perspective projection for variance pose face recognition from camera calibration

    Science.gov (United States)

    Fakhir, M. M.; Woo, W. L.; Chambers, J. A.; Dlay, S. S.

    2016-04-01

    Variance pose is an important research topic in face recognition. The alteration of distance parameters across variance pose face features is a challenging. We provide a solution for this problem using perspective projection for variance pose face recognition. Our method infers intrinsic camera parameters of the image which enable the projection of the image plane into 3D. After this, face box tracking and centre of eyes detection can be identified using our novel technique to verify the virtual face feature measurements. The coordinate system of the perspective projection for face tracking allows the holistic dimensions for the face to be fixed in different orientations. The training of frontal images and the rest of the poses on FERET database determine the distance from the centre of eyes to the corner of box face. The recognition system compares the gallery of images against different poses. The system initially utilises information on position of both eyes then focuses principally on closest eye in order to gather data with greater reliability. Differentiation between the distances and position of the right and left eyes is a unique feature of our work with our algorithm outperforming other state of the art algorithms thus enabling stable measurement in variance pose for each individual.

  15. Measuring nuclear power plant output by neutrino detection

    International Nuclear Information System (INIS)

    Korovkin, V.A.; Kodanev, S.A.; Panashchenko, N.S.; Sokolov, D.A.; Solov'yanov, O.M.; Tverdovskii, N.D.; Yarichin, A.D.; Ketov, S.N.; Kopeikin, V.I.; Machulin, I.N.; Mikaelyan, L.A.; Sinev, V.V.

    1989-01-01

    Neutrino emission from a reactor is inseparably linked with the fission process of heavy nuclei: each fission contributes a specific amount to the overall power output and gives rise to neutrinos which are emitted by the fission fragments created. Using a detector to record the neutrino flux gives a curve for the number of nuclei undergoing fission and the reactor power output. The question of whether it is practically possible to make use of neutrino emission from reactors was first posed in the mid-70s in connection with preparations for neutrino research at the Roven nuclear power plant (RAES) and in 1986 at an IAEA symposium on the topic of guarantees. Since 1982, research has been carried on at RAES on the fundamental properties and interactions of neutrinos. Based on this research and in parallel with it, in 1983 specialists from the Kurchatov Nuclear Power Institute and RAES jointly conducted an experiment which demonstrated in principle the possibility of remotely measuring reactor power output using the neutrino emission. This experiment had extremely limited statistics and is of interest today as the first demonstration of practical usage of neutrino emission from a reactor. At present the statistics for detecting neutrino events have increased tenfold and experience in lengthy measurements has been accumulated. This allows better analysis for the possibilities of the method. This paper reviews neutrino detection, theoretical bases of the method, determining the fission scale values for converting a number of neutrinos into power output, and measuring the power output

  16. Output factors and scatter ratios

    Energy Technology Data Exchange (ETDEWEB)

    Shrivastava, P N; Summers, R E; Samulski, T V; Baird, L C [Allegheny General Hospital, Pittsburgh, PA (USA); Ahuja, A S; Dubuque, G L; Hendee, W R; Chhabra, A S

    1979-07-01

    Reference is made to a previous publication on output factors and scatter ratios for radiotherapy units in which it was suggested that the output factor should be included in the definitions of scatter-air ratio and tissue-maximum ratio. In the present correspondence from other authors and from the authors of the previous publication, the original definitions and the proposed changes are discussed. Radiation scatter from source and collimator degradation of beam energy and calculation of dose in tissue are considered in relation to the objective of accurate dosimetry.

  17. Numerical methods for the design of large-scale nonlinear discrete ill-posed inverse problems

    International Nuclear Information System (INIS)

    Haber, E; Horesh, L; Tenorio, L

    2010-01-01

    Design of experiments for discrete ill-posed problems is a relatively new area of research. While there has been some limited work concerning the linear case, little has been done to study design criteria and numerical methods for ill-posed nonlinear problems. We present an algorithmic framework for nonlinear experimental design with an efficient numerical implementation. The data are modeled as indirect, noisy observations of the model collected via a set of plausible experiments. An inversion estimate based on these data is obtained by a weighted Tikhonov regularization whose weights control the contribution of the different experiments to the data misfit term. These weights are selected by minimization of an empirical estimate of the Bayes risk that is penalized to promote sparsity. This formulation entails a bilevel optimization problem that is solved using a simple descent method. We demonstrate the viability of our design with a problem in electromagnetic imaging based on direct current resistivity and magnetotelluric data

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

    Science.gov (United States)

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

    2018-03-01

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

  19. 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.

  20. World Input-Output Network.

    Directory of Open Access Journals (Sweden)

    Federica Cerina

    Full Text Available Production systems, traditionally analyzed as almost independent national systems, are increasingly connected on a global scale. Only recently becoming available, the World Input-Output Database (WIOD is one of the first efforts to construct the global multi-regional input-output (GMRIO tables. By viewing the world input-output system as an interdependent network where the nodes are the individual industries in different economies and the edges are the monetary goods flows between industries, we analyze respectively the global, regional, and local network properties of the so-called world input-output network (WION and document its evolution over time. At global level, we find that the industries are highly but asymmetrically connected, which implies that micro shocks can lead to macro fluctuations. At regional level, we find that the world production is still operated nationally or at most regionally as the communities detected are either individual economies or geographically well defined regions. Finally, at local level, for each industry we compare the network-based measures with the traditional methods of backward linkages. We find that the network-based measures such as PageRank centrality and community coreness measure can give valuable insights into identifying the key industries.

  1. Remote input/output station

    CERN Multimedia

    1972-01-01

    A general view of the remote input/output station installed in building 112 (ISR) and used for submitting jobs to the CDC 6500 and 6600. The card reader on the left and the line printer on the right are operated by programmers on a self-service basis.

  2. Compact Circuit Preprocesses Accelerometer Output

    Science.gov (United States)

    Bozeman, Richard J., Jr.

    1993-01-01

    Compact electronic circuit transfers dc power to, and preprocesses ac output of, accelerometer and associated preamplifier. Incorporated into accelerometer case during initial fabrication or retrofit onto commercial accelerometer. Made of commercial integrated circuits and other conventional components; made smaller by use of micrologic and surface-mount technology.

  3. Output Feedback M-MRAC Backstepping With Aerospace Applications

    Science.gov (United States)

    Stepanyan, Vahram; Krishnakumar, Kalmanje Sriniva

    2014-01-01

    The paper presents a certainty equivalence output feedback backstepping adaptive control design method for the systems of any relative degree with unmatched uncertainties without over-parametrization. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters. The approach is applied to aerospace control problems and tested in numerical simulations.

  4. ONKALO POSE experiment. Phase 3: acoustic and ultrasonic monitoring

    International Nuclear Information System (INIS)

    Reyes-Montes, J.; Flynn, W.; Huang, J.

    2014-01-01

    The objectives of the third phase of the POSE experiment are to determine the in situ state of stress at Olkiluoto and the spalling strength of Olkiluoto rock, by internal heating of the experimental hole (ONK-EH3) using 8 vertically installed heaters. This report presents the results from the Acoustic and ultrasonic monitoring carried out around the third experimental hole of the POSE niche between November 2012 and May 2013. The experiment was monitored using an array of 24 transducers installed along 4 monitoring drillholes and data was automatically acquired and processed using the system installed at the niche by Applied Seismology Consultants in May 2012. Daily ultrasonic surveys were carried out between 14 th November 2012 and 21 st May 2013, monitoring the changes in transmission velocities of P and S-waves with an estimated error of ±2 m x s -1 (ASC, 2013). Changes in transmission velocities closely follow the evolution of the temperature profile in the hole wall. An increase in both P-and S-wave transmission velocities is observed at all depth levels and surveyed raypaths during the heating phase, with the highest changes observed in raypaths skimming the hole surface and depths between 2.33 m and 3.7 m. This observation indicates the closure of in situ and excavation-induced microcracks due to thermal stress. After the heaters were switched off, P-wave velocities show a marked decrease, in all raypaths reaching values below those measured at the start of the monitoring approximately 4 weeks after the heaters were switched off. The highest decrease was observed along raypaths surveying the region skimming the hole wall. This decrease below original background values indicates the induction of rock degradation as microcracking induced through the heating-cooling cycle. Changes in P- and S-wave transmission velocity were used to calculate changes in Young's modulus and Poisson's ratio along the different raypaths and depth levels. An overall

  5. Multi-task pose-invariant face recognition.

    Science.gov (United States)

    Ding, Changxing; Xu, Chang; Tao, Dacheng

    2015-03-01

    Face images captured in unconstrained environments usually contain significant pose variation, which dramatically degrades the performance of algorithms designed to recognize frontal faces. This paper proposes a novel face identification framework capable of handling the full range of pose variations within ±90° of yaw. The proposed framework first transforms the original pose-invariant face recognition problem into a partial frontal face recognition problem. A robust patch-based face representation scheme is then developed to represent the synthesized partial frontal faces. For each patch, a transformation dictionary is learnt under the proposed multi-task learning scheme. The transformation dictionary transforms the features of different poses into a discriminative subspace. Finally, face matching is performed at patch level rather than at the holistic level. Extensive and systematic experimentation on FERET, CMU-PIE, and Multi-PIE databases shows that the proposed method consistently outperforms single-task-based baselines as well as state-of-the-art methods for the pose problem. We further extend the proposed algorithm for the unconstrained face verification problem and achieve top-level performance on the challenging LFW data set.

  6. 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

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

    Science.gov (United States)

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

    2015-07-01

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

  8. Markers evaluation on estimation of faecal output and digestibility in ruminants Avaliação de indicadores na estimação da excreção fecal e da digestibilidade em ruminantes

    Directory of Open Access Journals (Sweden)

    Alexandre Lima Souza

    2008-04-01

    Full Text Available The present work was carried out in order to evaluate the accuracy of internal and external markers on apparent dry matter digestibility (ADMD and faecal excretion (FE estimative in cattle fed diets with corn silage, elephant grass silage and Tifton-85 bermudagrass hay. The indigestible neutral detergent fiber (INDF and indigestible acid detergent fiber (IADF obtained in vitro were used as internal markers and the chromium as external marker, which were compared to the digestibility obtained by total collection of faeces, measured from six bovines. INDF and IADF were determined in vitro after 144 hours incubation with ruminal liquid from cattle. FE and ADMD were accurately predicted by chromium and INDF. IADF overestimated FE and underestimated ADMD for the diet based of Tifton-85 bermudagrass hay. The IADF utilization obtained in vitro as marker of FE and ADMD need more investigations and methods standardization.Objetivou-se com o presente trabalho avaliar a acurácia de indicadores internos e externos na estimativa da digestibilidade aparente da matéria seca (DAMS e da excreção fecal (EF em bovinos, alimentados com dietas à base das silagens de milho e de capim-elefante e feno de capim-Tifton 85. Foram avaliadas a fibra em detergente neutro indigestível (FDNI e a fibra em detergente ácido indigestível (FDAI como indicadores internos e o óxido crômico como indicador externo, os quais foram comparados com a digestibilidade obtida por meio da coleta total de fezes, medida em seis bovinos. A FDNI e a FDAI foram determinadas in vitro após 144 horas de incubação com líquido ruminal de bovinos. A EF e a DAMS foram acuradamente preditas a partir do cromo e da FDNI, entretanto, com a utilização da FDAI, houve superestimação da EF e, conseqüentemente, subestimação da DAMS para a dieta à base de feno de capim-Tifton 85. A utilização da FDAI obtida in vitro como indicador da EF e da DAMS necessita de mais investigação e padroniza

  9. Industrial output restriction and the Kyoto protocol. An input-output approach with application to Canada

    International Nuclear Information System (INIS)

    Lixon, Benoit; Thomassin, Paul J.; Hamaide, Bertrand

    2008-01-01

    The objective of this paper is to assess the economic impacts of reducing greenhouse gas emissions by decreasing industrial output in Canada to a level that will meet the target set out in the Kyoto Protocol. The study uses an ecological-economic Input-Output model combining economic components valued in monetary terms with ecologic components - GHG emissions - expressed in physical terms. Economic and greenhouse gas emissions data for Canada are computed in the same sectoral disaggregation. Three policy scenarios are considered: the first one uses the direct emission coefficients to allocate the reduction in industrial output, while the other two use the direct plus indirect emission coefficients. In the first two scenarios, the reduction in industrial sector output is allocated uniformly across sectors while it is allocated to the 12 largest emitting industries in the last one. The estimated impacts indicate that the results vary with the different allocation methods. The third policy scenario, allocation to the 12 largest emitting sectors, is the most cost effective of the three as the impacts of the Kyoto Protocol reduces Gross Domestic Product by 3.1% compared to 24% and 8.1% in the first two scenarios. Computed economic costs should be considered as upper-bounds because the model assumes immediate adjustment to the Kyoto Protocol and because flexibility mechanisms are not incorporated. The resulting upper-bound impact of the third scenario may seem to contradict those who claim that the Kyoto Protocol would place an unbearable burden on the Canadian economy. (author)

  10. 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.

  11. Estimating output fluence with MCNP4 for shaped fields and their comparison with measurements in the EPID system aS1000 for dosimetry 2D in-vivo; Estimacion de la fluencia de salida con MCNP4 para campos conformados y su comparacion con mediciones en el sistema EPID aS1000 para dosimetria in-vivo 2D

    Energy Technology Data Exchange (ETDEWEB)

    Hernandez R, B.; Rodriguez P, X.; Sosa, M., E-mail: bhernandez@fisica.ugto.mx [Universidad de Guanajuato, Division de Ciencias e Ingenierias, Loma del Bosque No. 103, 37150 Leon, Guanajuato (Mexico)

    2015-10-15

    Full text: Radiotherapy dosimetry is a fundamental process in quality control of the treatments performed with this technique. Different systems exist to quantify radiation dose in radiotherapy, one of them is the Electronic Portal Imaging Device (EPID), which is widely used in IMRT to measure the output fluence of a radiation field for comparison with a predicted fluence in a planning system. The objective of this work was to simulate a Varian linear accelerator model Clinac i X using the MCNP4 code for obtaining curves of percentage depth dose (Pdd) and open fields dosimetric profiles of 5 x 5, 10 x 10, 20 x 20 and 30 x 30 cm{sup 2}. The simulations were validated by comparing them with measurements made with ionization chamber. Then a mannequin of solid water (30 x 30 x 20 cm{sup 3}) with an open field of 10 x 10 cm{sup 2} was irradiated to measure the output fluence with EPID aS1000 system of Varian. A simulation of the solid water mannequin under the same conditions of irradiation was conducted to estimate the output fluence. Tests of index gamma and percentage differences were calculated to compare that simulated with that measured. In all cases was found that more than 95% of the evaluated points passed the acceptance criteria (ΔD= 1% and ΔS= 1 mm for curves Pdd and profiles, and ΔD= 3% and ΔS= 3 mm for fluence two-dimensional). This paper will contribute to the implementation of in-vivo dosimetry three-dimensional with the EPID system. (Author)

  12. UFO - The Universal FEYNRULES Output

    Science.gov (United States)

    Degrande, Céline; Duhr, Claude; Fuks, Benjamin; Grellscheid, David; Mattelaer, Olivier; Reiter, Thomas

    2012-06-01

    We present a new model format for automatized matrix-element generators, the so-called Universal FEYNRULES Output (UFO). The format is universal in the sense that it features compatibility with more than one single generator and is designed to be flexible, modular and agnostic of any assumption such as the number of particles or the color and Lorentz structures appearing in the interaction vertices. Unlike other model formats where text files need to be parsed, the information on the model is encoded into a PYTHON module that can easily be linked to other computer codes. We then describe an interface for the MATHEMATICA package FEYNRULES that allows for an automatic output of models in the UFO format.

  13. Aggregate Supply and Potential Output

    OpenAIRE

    Razin, Assaf

    2004-01-01

    The New-Keynesian aggregate supply derives from micro-foundations an inflation-dynamics model very much like the tradition in the monetary literature. Inflation is primarily affected by: (i) economic slack; (ii) expectations; (iii) supply shocks; and (iv) inflation persistence. This paper extends the New Keynesian aggregate supply relationship to include also fluctuations in potential output, as an additional determinant of the relationship. Implications for monetary rules and to the estimati...

  14. Satellite markers: a simple method for ground truth car pose on stereo video

    Science.gov (United States)

    Gil, Gustavo; Savino, Giovanni; Piantini, Simone; Pierini, Marco

    2018-04-01

    Artificial prediction of future location of other cars in the context of advanced safety systems is a must. The remote estimation of car pose and particularly its heading angle is key to predict its future location. Stereo vision systems allow to get the 3D information of a scene. Ground truth in this specific context is associated with referential information about the depth, shape and orientation of the objects present in the traffic scene. Creating 3D ground truth is a measurement and data fusion task associated with the combination of different kinds of sensors. The novelty of this paper is the method to generate ground truth car pose only from video data. When the method is applied to stereo video, it also provides the extrinsic camera parameters for each camera at frame level which are key to quantify the performance of a stereo vision system when it is moving because the system is subjected to undesired vibrations and/or leaning. We developed a video post-processing technique which employs a common camera calibration tool for the 3D ground truth generation. In our case study, we focus in accurate car heading angle estimation of a moving car under realistic imagery. As outcomes, our satellite marker method provides accurate car pose at frame level, and the instantaneous spatial orientation for each camera at frame level.

  15. 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.

  16. Output Error Method for Tiltrotor Unstable in Hover

    Directory of Open Access Journals (Sweden)

    Lichota Piotr

    2017-03-01

    Full Text Available This article investigates unstable tiltrotor in hover system identification from flight test data. The aircraft dynamics was described by a linear model defined in Body-Fixed-Coordinate System. Output Error Method was selected in order to obtain stability and control derivatives in lateral motion. For estimating model parameters both time and frequency domain formulations were applied. To improve the system identification performed in the time domain, a stabilization matrix was included for evaluating the states. In the end, estimates obtained from various Output Error Method formulations were compared in terms of parameters accuracy and time histories. Evaluations were performed in MATLAB R2009b environment.

  17. A Monte Carlo Study on Multiple Output Stochastic Frontiers: Comparison of Two Approaches

    DEFF Research Database (Denmark)

    Henningsen, Geraldine; Henningsen, Arne; Jensen, Uwe

    , dividing all other output quantities by the selected output quantity, and using these ratios as regressors (OD). Another approach is the stochastic ray production frontier (SR) which transforms the output quantities into their Euclidean distance as the dependent variable and their polar coordinates......In the estimation of multiple output technologies in a primal approach, the main question is how to handle the multiple outputs. Often an output distance function is used, where the classical approach is to exploit its homogeneity property by selecting one output quantity as the dependent variable...... of both specifications for the case of a Translog output distance function with respect to different common statistical problems as well as problems arising as a consequence of zero values in the output quantities. Although, our results partly show clear reactions to statistical misspecifications...

  18. Introduced organisms pose the most significant threat to the ...

    African Journals Online (AJOL)

    spamer

    Introduced organisms pose the most significant threat to the conservation status of oceanic islands (e.g.. Williamson 1996). Subantarctic Prince Edward Island, the smaller of the two islands in the Prince Edward. Island group, has few introduced organisms; it is cur- rently known to support only three introduced animals.

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

    Science.gov (United States)

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

    1996-09-01

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

  20. 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…

  1. Binary classification posed as a quadratically constrained quadratic ...

    Indian Academy of Sciences (India)

    Binary classification is posed as a quadratically constrained quadratic problem and solved using the proposed method. Each class in the binary classification problem is modeled as a multidimensional ellipsoid to forma quadratic constraint in the problem. Particle swarms help in determining the optimal hyperplane or ...

  2. 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),…

  3. Developing teachers' subject didactic competence through problem posing

    Czech Academy of Sciences Publication Activity Database

    Tichá, Marie; Hošpesová, A.

    2013-01-01

    Roč. 83, č. 1 (2013), s. 133-143 ISSN 0013-1954 Institutional support: RVO:67985840 Keywords : professional development * primary school teachers * problem posing Subject RIV: AM - Education Impact factor: 0.639, year: 2013 http://link.springer.com/article/10.1007%2Fs10649-012-9455-1

  4. 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.

  5. 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

  6. POSING THE HISTORICAL JESUS QUESTION AND THE GOAL OF ...

    African Journals Online (AJOL)

    mycl

    ... study recommended that. African scholars be allowed to develop and pose the Historical Jesus ... he is seen as the starting point for modern critical study of Jesus. (Burer). ... African anthropology and culture and the data of revelation, and how this theology ... Man” from two perspectives: that of a biblical culture in the first.

  7. 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.

  8. Zebra Mussels Pose a Threat to Virginia's Waters

    OpenAIRE

    Helfrich, Louis A. (Louis Anthony), 1942-; Weigmann, Diana L.; Speenburgh, Renee M.; Neves, Richard J.; Kitchel, Lisie; Bruenderman, Sue A., 1962-

    2005-01-01

    Provides an brief introduction to the invasion of the zebra mussel into American waters, explains the economic consequences they pose, and discusses if Virginia will inherit the problem, what the public can do to help, the general lifecycle of the zebra mussel and if they can be controlled, and who is working on the zebra mussel problem.

  9. 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

  10. Meanings Given to Algebraic Symbolism in Problem-Posing

    Science.gov (United States)

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

    2018-01-01

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

  11. Judicial Influence on Policy Outputs?

    DEFF Research Database (Denmark)

    Martinsen, Dorte Sindbjerg

    2015-01-01

    to override unwanted jurisprudence. In this debate, the Court of Justice of the European Union (CJEU) has become famous for its central and occasionally controversial role in European integration. This article examines to what extent and under which conditions judicial decisions influence European Union (EU......) social policy outputs. A taxonomy of judicial influence is constructed, and expectations of institutional and political conditions on judicial influence are presented. The analysis draws on an extensive novel data set and examines judicial influence on EU social policies over time, that is, between 1958...

  12. Identifying sources and estimating glandular output of salivary TIMP-1

    DEFF Research Database (Denmark)

    Holten-Andersen, Lars; Jensen, Siri Beier; Jensen, Allan Bardow

    2008-01-01

    saliva (267.01 ng/min). Conclusion. This study shows that saliva contains authentic TIMP-1, the concentration of which was found to depend on gland type and salivary flow. Stimulated whole saliva is suggested as a reliable and easily accessible source for TIMP-1 determinations in bodily fluids....

  13. Response estimation for a floating bridge using acceleration output only

    NARCIS (Netherlands)

    Petersen, Øyvind Wiig; Øiseth, Ole; Nord, Torodd Skjerve; Lourens, E.; Sas, P.; Moens, D.; van de Walle, A.

    2016-01-01

    The Norwegian Public Roads Administration is reviewing the possibility of using floating bridges as fjord crossings. The dynamic behaviour of very long floating bridges with novel designs are prone to uncertainties. Studying the dynamic behaviour of existing bridges is valuable for understanding

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

    Science.gov (United States)

    Sun, Liang; Huo, Wei; Jiao, Zongxia

    2017-03-01

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

  15. Turbulent Output-Based Anisotropic Adaptation

    Science.gov (United States)

    Park, Michael A.; Carlson, Jan-Renee

    2010-01-01

    Controlling discretization error is a remaining challenge for computational fluid dynamics simulation. Grid adaptation is applied to reduce estimated discretization error in drag or pressure integral output functions. To enable application to high O(10(exp 7)) Reynolds number turbulent flows, a hybrid approach is utilized that freezes the near-wall boundary layer grids and adapts the grid away from the no slip boundaries. The hybrid approach is not applicable to problems with under resolved initial boundary layer grids, but is a powerful technique for problems with important off-body anisotropic features. Supersonic nozzle plume, turbulent flat plate, and shock-boundary layer interaction examples are presented with comparisons to experimental measurements of pressure and velocity. Adapted grids are produced that resolve off-body features in locations that are not known a priori.

  16. 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.

  17. Strategic management of health risks posed by buried transuranic wastes

    International Nuclear Information System (INIS)

    Jump, R.A.

    1994-01-01

    A strategy is presented for reducing health risks at sites contaminated with buried transuranic (TRU) wastes by first taking measures to immobilize the contaminants until the second step, final action, becomes cost-effective and poses less risk to the remediation workers. The first step of this strategy does not preclude further action if it is warranted and is in harmony with environmental laws and regulations

  18. 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

  19. Solution of linear ill-posed problems using overcomplete dictionaries

    OpenAIRE

    Pensky, Marianna

    2016-01-01

    In the present paper we consider application of overcomplete dictionaries to solution of general ill-posed linear inverse problems. Construction of an adaptive optimal solution for such problems usually relies either on a singular value decomposition or representation of the solution via an orthonormal basis. The shortcoming of both approaches lies in the fact that, in many situations, neither the eigenbasis of the linear operator nor a standard orthonormal basis constitutes an appropriate co...

  20. Integration of TMVA Output into Jupyter notebooks

    CERN Document Server

    Saliji, Albulena

    2016-01-01

    The purpose of this report is to describe the work that I have been doing during these past eight weeks as a Summer Student at CERN. The task which was assigned to me had to do with the integration of TMVA Output into Jupyter notebooks. In order to integrate the TMVA Output into the Jupyter notebook, first, improvement of the TMVA Output in the terminal was required. Once the output was improved, it needed to be transformed into HTML output and at the end it would be possible to integrate that output into the Jupyter notebook.

  1. Output synchronization control of ship replenishment operations: theory and experiments

    NARCIS (Netherlands)

    Kyrkjebø, E.; Pettersen, K.Y.; Wondergem, M.; Nijmeijer, H.

    2007-01-01

    A leader–follower synchronization output feedback control scheme is presented for the ship replenishment problem where only positions are measured. No mathematical model of the leader ship is required, and the control scheme relies on nonlinear observers to estimate velocity and acceleration of all

  2. Bank output measurement in the euro area : A modified approach

    NARCIS (Netherlands)

    Colangelo, A.; Inklaar, R.

    Banks do not charge explicit fees for many of the services they provide, bundling the service payment with the offered interest rates. This output therefore has to be imputed using estimates of the opportunity cost of funds. We argue that rather than using the single short-term, low-risk interest

  3. Mining Key Skeleton Poses with Latent SVM for Action Recognition

    Directory of Open Access Journals (Sweden)

    Xiaoqiang Li

    2017-01-01

    Full Text Available Human action recognition based on 3D skeleton has become an active research field in recent years with the recently developed commodity depth sensors. Most published methods analyze an entire 3D depth data, construct mid-level part representations, or use trajectory descriptor of spatial-temporal interest point for recognizing human activities. Unlike previous work, a novel and simple action representation is proposed in this paper which models the action as a sequence of inconsecutive and discriminative skeleton poses, named as key skeleton poses. The pairwise relative positions of skeleton joints are used as feature of the skeleton poses which are mined with the aid of the latent support vector machine (latent SVM. The advantage of our method is resisting against intraclass variation such as noise and large nonlinear temporal deformation of human action. We evaluate the proposed approach on three benchmark action datasets captured by Kinect devices: MSR Action 3D dataset, UTKinect Action dataset, and Florence 3D Action dataset. The detailed experimental results demonstrate that the proposed approach achieves superior performance to the state-of-the-art skeleton-based action recognition methods.

  4. 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

  5. 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

  6. 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.

  7. 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.

  8. Observability of linear systems with saturated outputs

    NARCIS (Netherlands)

    Koplon, R.; Sontag, E.D.; Hautus, M.L.J.

    1994-01-01

    We present necessary and sufficient conditions for observability of the class of output-saturated systems. These are linear systems whose output passes through a saturation function before it can be measured.

  9. Probabilistic Output Analysis by Program Manipulation

    DEFF Research Database (Denmark)

    Rosendahl, Mads; Kirkeby, Maja Hanne

    2015-01-01

    The aim of a probabilistic output analysis is to derive a probability distribution of possible output values for a program from a probability distribution of its input. We present a method for performing static output analysis, based on program transformation techniques. It generates a probability...

  10. 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.

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

    Science.gov (United States)

    2015-03-26

    Truth rotation values are obtained from the spot of a laser pointer that is fixed to the CubeSat and points 76 Figure 44. The AFIT 6U CubeSat Air Bearing...Demonstration for Autonomous Rendezvous Technology (DART) spacecraft, which irradiates retro-reflectors of a known orienta- tion with a laser to solve the...minimize the additional sub-system requirements on the spacecraft. Most spacecraft already have star trackers , which use dedicated CPUs to perform stellar

  12. Poor Man's Virtual Camera: Real-Time Simultaneous Matting and Camera Pose Estimation.

    Science.gov (United States)

    Szentandrasi, Istvan; Dubska, Marketa; Zacharias, Michal; Herout, Adam

    2016-03-18

    Today's film and advertisement production heavily uses computer graphics combined with living actors by chromakeying. The matchmoving process typically takes a considerable manual effort. Semi-automatic matchmoving tools exist as well, but they still work offline and require manual check-up and correction. In this article, we propose an instant matchmoving solution for green screen. It uses a recent technique of planar uniform marker fields. Our technique can be used in indie and professional filmmaking as a cheap and ultramobile virtual camera, and for shot prototyping and storyboard creation. The matchmoving technique based on marker fields of shades of green is very computationally efficient: we developed and present in the article a mobile application running at 33 FPS. Our technique is thus available to anyone with a smartphone at low cost and with easy setup, opening space for new levels of filmmakers' creative expression.

  13. Jointly Optimize Data Augmentation and Network Training: Adversarial Data Augmentation in Human Pose Estimation

    OpenAIRE

    Peng, Xi; Tang, Zhiqiang; Yang, Fei; Feris, Rogerio; Metaxas, Dimitris

    2018-01-01

    Random data augmentation is a critical technique to avoid overfitting in training deep neural network models. However, data augmentation and network training are usually treated as two isolated processes, limiting the effectiveness of network training. Why not jointly optimize the two? We propose adversarial data augmentation to address this limitation. The main idea is to design an augmentation network (generator) that competes against a target network (discriminator) by generating `hard' au...

  14. Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

    OpenAIRE

    Jun , Jae-Yun; Saut , Jean-Philippe; Benamar , Faïz

    2015-01-01

    International audience; A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-RRT) and the Dynamic-Domain RRT (DD-RRT) algorithms) bidirectionally and of representing the robot-terrain interaction with the robot’s quasi-static tip-over stability measure (assuming that the robot traverses uneven ter...

  15. 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

    information for both edge and texture structures. This is achieved by defining feature space relations which describe the neighborhood of a descriptor. By quantitative evaluations, we show that our descriptors provide high discriminative power compared to state of the art approaches. In addition, we show how...

  16. Canada's helium output rising fast

    Energy Technology Data Exchange (ETDEWEB)

    1966-12-01

    About 12 months from now, International Helium Limited will be almost ready to start up Canada's second helium extraction plant at Mankota, in Saskatchewan's Wood Mountain area about 100 miles southwest of Moose Jaw. Another 80 miles north is Saskatchewan's (and Canada's) first helium plant, operated by Canadian Helium and sitting on a gas deposit at Wilhelm, 9 miles north of Swift Current. It contains almost 2% helium, some COD2U, and the rest nitrogen. One year in production was apparently enough to convince Canadian Helium that the export market (it sells most of its helium in W. Europe) can take a lot more than it's getting. Construction began this summer on an addition to the Swift Current plant that will raise its capacity from 12 to 36MMcf per yr when it goes on stream next spring. Six months later, International Helium's 40 MMcf per yr plant to be located about 4 miles from its 2 Wood Mountain wells will double Canada's helium output again.

  17. 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

  18. Modeling the power output of piezoelectric energy harvesters

    KAUST Repository

    Al Ahmad, Mahmoud

    2011-04-30

    Design of experiments and multiphysics analyses were used to develop a parametric model for a d 33-based cantilever. The analysis revealed that the most significant parameters influencing the resonant frequency are the supporting layer thickness, piezoelectric layer thickness, and cantilever length. On the other hand, the most important factors affecting the charge output arethe piezoelectric thickness and the interdigitated electrode dimensions. The accuracy of the developed model was confirmed and showed less than 1% estimation error compared with a commercial simulation package. To estimate the power delivered to a load, the electric current output from the piezoelectric generator was calculated. A circuit model was built and used to estimate the power delivered to a load, which compared favorably to experimentally published power data on actual cantilevers of similar dimensions. © 2011 TMS.

  19. Modeling the power output of piezoelectric energy harvesters

    KAUST Repository

    Al Ahmad, Mahmoud; Alshareef, Husam N.

    2011-01-01

    Design of experiments and multiphysics analyses were used to develop a parametric model for a d 33-based cantilever. The analysis revealed that the most significant parameters influencing the resonant frequency are the supporting layer thickness, piezoelectric layer thickness, and cantilever length. On the other hand, the most important factors affecting the charge output arethe piezoelectric thickness and the interdigitated electrode dimensions. The accuracy of the developed model was confirmed and showed less than 1% estimation error compared with a commercial simulation package. To estimate the power delivered to a load, the electric current output from the piezoelectric generator was calculated. A circuit model was built and used to estimate the power delivered to a load, which compared favorably to experimentally published power data on actual cantilevers of similar dimensions. © 2011 TMS.

  20. 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.

  1. Laser Remediation of Threats Posed by Small Orbital Debris

    Science.gov (United States)

    Fork, Richard L.; Rogers, Jan R.; Hovater, Mary A.

    2012-01-01

    The continually increasing amount of orbital debris in near Earth space poses an increasing challenge to space situational awareness. Recent collisions of spacecraft caused abrupt increases in the density of both large and small debris in near Earth space. An especially challenging class of threats is that due to the increasing density of small (1 mm to 10 cm dimension) orbital debris. This small debris poses a serious threat since: (1) The high velocity enables even millimeter dimension debris to cause serious damage to vulnerable areas of space assets, e.g., detector windows; (2) The small size and large number of debris elements prevent adequate detection and cataloguing. We have identified solutions to this threat in the form of novel laser systems and novel ways of using these laser systems. While implementation of the solutions we identify is challenging we find approaches offering threat mitigation within time frames and at costs of practical interest. We base our analysis on the unique combination of coherent light specifically structured in both space and time and applied in novel ways entirely within the vacuum of space to deorbiting small debris. We compare and contrast laser based small debris removal strategies using ground based laser systems with strategies using space based laser systems. We find laser systems located and used entirely within space offer essential and decisive advantages over groundbased laser systems.

  2. 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.

  3. PREVIMER : Meteorological inputs and outputs

    Science.gov (United States)

    Ravenel, H.; Lecornu, F.; Kerléguer, L.

    2009-09-01

    PREVIMER is a pre-operational system aiming to provide a wide range of users, from private individuals to professionals, with short-term forecasts about the coastal environment along the French coastlines bordering the English Channel, the Atlantic Ocean, and the Mediterranean Sea. Observation data and digital modelling tools first provide 48-hour (probably 96-hour by summer 2009) forecasts of sea states, currents, sea water levels and temperatures. The follow-up of an increasing number of biological parameters will, in time, complete this overview of coastal environment. Working in partnership with the French Naval Hydrographic and Oceanographic Service (Service Hydrographique et Océanographique de la Marine, SHOM), the French National Weather Service (Météo-France), the French public science and technology research institute (Institut de Recherche pour le Développement, IRD), the European Institute of Marine Studies (Institut Universitaire Européen de la Mer, IUEM) and many others, IFREMER (the French public institute fo marine research) is supplying the technologies needed to ensure this pertinent information, available daily on Internet at http://www.previmer.org, and stored at the Operational Coastal Oceanographic Data Centre. Since 2006, PREVIMER publishes the results of demonstrators assigned to limited geographic areas and to specific applications. This system remains experimental. The following topics are covered : Hydrodynamic circulation, sea states, follow-up of passive tracers, conservative or non-conservative (specifically of microbiological origin), biogeochemical state, primary production. Lastly, PREVIMER provides researchers and R&D departments with modelling tools and access to the database, in which the observation data and the modelling results are stored, to undertake environmental studies on new sites. The communication will focus on meteorological inputs to and outputs from PREVIMER. It will draw the lessons from almost 3 years during

  4. The 'icon' of output efficiency

    International Nuclear Information System (INIS)

    Bligh, L.N.; Evans, S.G.; Larcos, G.; Gruenewald, S.M.

    1999-01-01

    Full text: Output efficiency (OE) is a well-validated parameter used in the assessment of hydronephrosis. Current analysis on Microdelta appears to produce few low OE values and occasional inability to produce a result. We sought an OE program which gave a reliable response over the full range of values. The aims of this study were to determine: (1) whether OE results are comparable between two computer systems; (2) a normal range for OE on an ICON; (3) inter-observer reproducibility; and (4) the correlation between the two programs and the residual cortical activity ratio (RCA), an index which assesses tracer washout from the 20 min cortical activity/peak cortical activity. Accordingly, two blinded medical radiation scientists reviewed 41 kidneys (26 native, 15 transplant) and calculated OE for each kidney on the ICON and Microdelta computers The OE on the Microdelta and the ICON had good correspondence (r = 0.6%, SEE = 6.2). The extrapolated normal range for ICON OE was 69-92% (mean 80.9%). The inter-observer reproducibility on the ICON was excellent with a CV of 8.7%. ICON OE and RCA had a strong correlation (r = - 0.77, SEE = 0.09), compared with a weaker correlation for the Microdelta (r = 0.47, SEE = 0.13). Processing on the ICON was almost half that of the Microdelta at 4 min compared with 7 min. We conclude that OE generated by these computer programs has good correlation, an established normal range, excellent interobserver reproducibility, but differing correlation with RCA. The response of the ICON program to low ranges of OE is being investigated further

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

    Science.gov (United States)

    Kilic, Cigdem

    2013-01-01

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

  6. Review of the Risks Posed to Drinking Water by Man-Made Nanoparticels

    DEFF Research Database (Denmark)

    Tiede, K.; Westerhoff, P.; Hansen, Steffen Foss

    an estimate of the amount of exposure to a range of ENPs from drinking water as well as a relative qualitative risk of exposure to ENPs from drinking water compared to other routes. A range of metal, metal oxide and organic-based ENPs were identified that have the potential to contaminate drinking waters...... drinking waters. In order to address these concerns, the U.K. Drinking Water Inspectorate (DWI) has published a "Review of the risks posed to drinking water by man-made nanoparticles"(DWI 70/2/246). The study, which was funded by the Department for Food and Rural Affairs (Defra), was undertaken by the Food...... (such as ENPs that are produced in large quantities or are used in a free form) were identified and categorised. The classification was based on a categorisation framework to aid exposure assessment of nanomaterials in consumer products. A conservative approach was then used to estimate worst case...

  7. PENDUGAAN ELASTISITAS PENAWARAN OUTPUT DAN PERMINTAAN INPUT USAHATANI JAGUNG

    Directory of Open Access Journals (Sweden)

    Adang Agustian

    2012-12-01

    Full Text Available This study aims to determine the effect of changes in output and input prices, corn research expenditures and road infrastructure on output supply and input demand for corn in the Province of East Java and West Java. The data that are analyzed are those of structure of costs of corn farming in the Province of East Java and West Java in 1985-2009. Estimation model employed is the method of Seemingly Unrelated Regression. The results showed that the output supply of corn both in the province of East Java and West Java are elastic to its price changes, however it is inelastic to the price changes of: seed, urea, TSP and labor. Input demand of seed, urea, TSP and labor area inelastic to their price changes. Policy implications of this research is efforts to increase the supply of corn can be carried out by increasing its price, expenditures of corn research, and road infrastructure.

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

    International Nuclear Information System (INIS)

    Johansson, E.; Siren, T.; Hakala, M.; Kantia, P.

    2014-02-01

    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

  10. The value of risk: measuring the service output of U.S. commercial banks

    OpenAIRE

    Basu, Susanto; Inklaar, Robert; Wang, J. Christina

    2011-01-01

    Rather than charging direct fees, banks often charge implicitly for their services via interest spreads. As a result, much of bank output has to be estimated indirectly. In contrast to current statistical practice, dynamic optimizing models of banks argue that compensation for bearing systematic risk is not part of bank output. We apply these models and find that between 1997 and 2007, in the U.S. National Accounts, on average, bank output is overestimated by 21 percent and GDP is overestimat...

  11. 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

  12. Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

    International Nuclear Information System (INIS)

    Wang, L; Yin, H L; Meng, Q

    2006-01-01

    In recent two decades, more and more research on the endoscopic surgery has been carried out [2]. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrist's pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter

  13. Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

    Energy Technology Data Exchange (ETDEWEB)

    Wang, L [Chinese-German Institute of Automatic Control Engineering, Tongji University (China); Yin, H L [Chinese-German Institute of Automatic Control Engineering, Tongji University (China); Meng, Q [Shanghai University of Electric Power (China)

    2006-10-15

    In recent two decades, more and more research on the endoscopic surgery has been carried out [2]. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrist's pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter.

  14. 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.

  15. Energy and output dynamics in Bangladesh

    International Nuclear Information System (INIS)

    Paul, Biru Paksha; Uddin, Gazi Salah

    2011-01-01

    The relationship between energy consumption and output is still ambiguous in the existing literature. The economy of Bangladesh, having spectacular output growth and rising energy demand as well as energy efficiency in recent decades, can be an ideal case for examining energy-output dynamics. We find that while fluctuations in energy consumption do not affect output fluctuations, movements in output inversely affect movements in energy use. The results of Granger causality tests in this respect are consistent with those of innovative accounting that includes variance decompositions and impulse responses. Autoregressive distributed lag models also suggest a role of output in Bangladesh's energy use. Hence, the findings of this study have policy implications for other developing nations where measures for energy conservation and efficiency can be relevant in policymaking.

  16. Theoretical analysis of magnetic sensor output voltage

    International Nuclear Information System (INIS)

    Liu Haishun; Dun Chaochao; Dou Linming; Yang Weiming

    2011-01-01

    The output voltage is an important parameter to determine the stress state in magnetic stress measurement, the relationship between the output voltage and the difference in the principal stresses was investigated by a comprehensive application of magnetic circuit theory, magnetization theory, stress analysis as well as the law of electromagnetic induction, and a corresponding quantitative equation was derived. It is drawn that the output voltage is proportional to the difference in the principal stresses, and related to the angle between the principal stress and the direction of the sensor. This investigation provides a theoretical basis for the principle stresses measurement by output voltage. - Research highlights: → A comprehensive investigation of magnetic stress signal. → Derived a quantitative equation about output voltage and the principal stresses. → The output voltage is proportional to the difference of the principal stresses. → Provide a theoretical basis for the principle stresses measurement.

  17. 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.

  18. Output Control Using Feedforward And Cascade Controllers

    Science.gov (United States)

    Seraji, Homayoun

    1990-01-01

    Report presents theoretical study of open-loop control elements in single-input, single-output linear system. Focus on output-control (servomechanism) problem, in which objective is to find control scheme that causes output to track certain command inputs and to reject certain disturbance inputs in steady state. Report closes with brief discussion of characteristics and relative merits of feedforward, cascade, and feedback controllers and combinations thereof.

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

    DEFF Research Database (Denmark)

    Sølund, Thomas

    and move objects, which are physical located at the same positions. In order to place objects in the same position each time, custom-made mechanical fixtures and aligners are constructed to ensure that objects are not moving. It is expensive to design and build these fixtures and it is difficult to quickly...... change to a novel task. In some cases where objects are placed in bins and boxes it is not possible to position the objects in the same location each time. To avoid designing expensive mechanical solutions and to be able to pick objects from boxes and bins, a sensor is necessary to guide the robot. Today...... 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...

  20. Money, Output and Price Level in Nigeria: A Test of the Monetary ...

    African Journals Online (AJOL)

    This paper presents and tests a model to determine either or both how anticipated or unanticipated money affects real output and inflation in Nigeria. The Barro two –step estimation procedure was explored. Also, the effects of devaluation and business cycles in the industrialized countries on output fluctuation in Nigeria ...

  1. State estimation for a hexapod robot

    CSIR Research Space (South Africa)

    Lubbe, Estelle

    2015-09-01

    Full Text Available This paper introduces a state estimation methodology for a hexapod robot that makes use of proprioceptive sensors and a kinematic model of the robot. The methodology focuses on providing reliable full pose state estimation for a commercially...

  2. Output feedback control of a quadrotor UAV using neural networks.

    Science.gov (United States)

    Dierks, Travis; Jagannathan, Sarangapani

    2010-01-01

    In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

  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. Greedy solution of ill-posed problems: error bounds and exact inversion

    International Nuclear Information System (INIS)

    Denis, L; Lorenz, D A; Trede, D

    2009-01-01

    The orthogonal matching pursuit (OMP) is a greedy algorithm to solve sparse approximation problems. Sufficient conditions for exact recovery are known with and without noise. In this paper we investigate the applicability of the OMP for the solution of ill-posed inverse problems in general, and in particular for two deconvolution examples from mass spectrometry and digital holography, respectively. In sparse approximation problems one often has to deal with the problem of redundancy of a dictionary, i.e. the atoms are not linearly independent. However, one expects them to be approximatively orthogonal and this is quantified by the so-called incoherence. This idea cannot be transferred to ill-posed inverse problems since here the atoms are typically far from orthogonal. The ill-posedness of the operator probably causes the correlation of two distinct atoms to become huge, i.e. that two atoms look much alike. Therefore, one needs conditions which take the structure of the problem into account and work without the concept of coherence. In this paper we develop results for the exact recovery of the support of noisy signals. In the two examples, mass spectrometry and digital holography, we show that our results lead to practically relevant estimates such that one may check a priori if the experimental setup guarantees exact deconvolution with OMP. Especially in the example from digital holography, our analysis may be regarded as a first step to calculate the resolution power of droplet holography

  5. Invasive Lionfish (Pterosis volitans) Pose Public Health Threats.

    Science.gov (United States)

    Diaz, James H

    2015-01-01

    The lionfish, Pterosis volitans, a native of Indo-Pacific oceans, is a popular saltwater aquarium fish despite venomous spines on its fins. Lionfish were inadvertently introduced into the western Atlantic from Florida in the early 1990s and have overpopulated and dispersed widely into the Caribbean Sea and Gulf of Mexico. Initiatives to control lionfish populations were launched, including the National Oceanographic and Atmospheric Administration (NOAA)-sponsored "Lionfish as Food Campaign".2 Recently, scientists from the Food and Drug Administration (FDA) reported that lionfish caught off the US Virgin Islands contained ciguatoxins and could cause ciguatera fish poisoning (CFP); a seafood-borne poisoning without an antidote or any specific treatment, and a potential for prolonged neurotoxicity. Lionfish pose several public health threats. New strategies to control the lionfish population explosion in coastal waters and offshore fisheries are needed now to ensure seafood safety and public health. The lionfish, Pterosis volitans, is native to the reefs of the western Indian and Pacific Oceans (Figure 1). Brightly colored with red, white, and black stripes and adorned with feathery fins, the lionfish is a popular saltwater aquarium fish despite venomous spines on its fins (Figure 2). Lionfish were introduced into the western North Atlantic from Florida in the early 1990s after some specimens were discarded by dissatisfied amateur aquarists and others escaped from hurricane-flooded public aquariums.1 Since lionfish are voracious carnivores, have few natural predators, and reproduce prolifically, they have overpopulated and dispersed widely from Cape Hatteras to Florida, throughout the Caribbean Sea, and into the Gulf of Mexico.1 The population density of lionfish in its new, invaded territory now exceeds that of its native habitat.1 As a result, campaigns to control lionfish populations were launched in Florida and the Caribbean. Lionfish now pose several public

  6. DIST/AVC Out-Put Definition.

    Science.gov (United States)

    Wilkinson, Gene L.

    The first stage of development of a management information system for DIST/AVC (Division of Instructional Technology/Audio-Visual Center) is the definition of out-put units. Some constraints on the definition of output units are: 1) they should reflect goals of the organization, 2) they should reflect organizational structure and procedures, and…

  7. Fast multi-output relevance vector regression

    OpenAIRE

    Ha, Youngmin

    2017-01-01

    This paper aims to decrease the time complexity of multi-output relevance vector regression from O(VM^3) to O(V^3+M^3), where V is the number of output dimensions, M is the number of basis functions, and V

  8. Early-Transition Output Decline Revisited

    Directory of Open Access Journals (Sweden)

    Crt Kostevc

    2016-05-01

    Full Text Available In this paper we revisit the issue of aggregate output decline that took place in the early transition period. We propose an alternative explanation of output decline that is applicable to Central- and Eastern-European countries. In the first part of the paper we develop a simple dynamic general equilibrium model that builds on work by Gomulka and Lane (2001. In particular, we consider price liberalization, interpreted as elimination of distortionary taxation, as a trigger of the output decline. We show that price liberalization in interaction with heterogeneous adjustment costs and non-employment benefits lead to aggregate output decline and surge in wage inequality. While these patterns are consistent with actual dynamics in CEE countries, this model cannot generate output decline in all sectors. Instead sectors that were initially taxed even exhibit output growth. Thus, in the second part we consider an alternative general equilibrium model with only one production sector and two types of labor and distortion in a form of wage compression during the socialist era. The trigger for labor mobility and consequently output decline is wage liberalization. Assuming heterogeneity of workers in terms of adjustment costs and non-employment benefits can explain output decline in all industries.

  9. Assessing the psychological factors predicting workers' output ...

    African Journals Online (AJOL)

    The study investigated job security, communication skills, interpersonal relationship and emotional intelligence as correlates of workers' output among local government employees in Oyo State. The research adopted descriptive design of an expose facto type. The research instruments used includes Workers' output scale, ...

  10. Determining the confidence levels of sensor outputs using neural networks

    Energy Technology Data Exchange (ETDEWEB)

    Broten, G S; Wood, H C [Saskatchewan Univ., Saskatoon, SK (Canada). Dept. of Electrical Engineering

    1996-12-31

    This paper describes an approach for determining the confidence level of a sensor output using multi-sensor arrays, sensor fusion and artificial neural networks. The authors have shown in previous work that sensor fusion and artificial neural networks can be used to learn the relationships between the outputs of an array of simulated partially selective sensors and the individual analyte concentrations in a mixture of analyses. Other researchers have shown that an array of partially selective sensors can be used to determine the individual gas concentrations in a gaseous mixture. The research reported in this paper shows that it is possible to extract confidence level information from an array of partially selective sensors using artificial neural networks. The confidence level of a sensor output is defined as a numeric value, ranging from 0% to 100%, that indicates the confidence associated with a output of a given sensor. A three layer back-propagation neural network was trained on a subset of the sensor confidence level space, and was tested for its ability to generalize, where the confidence level space is defined as all possible deviations from the correct sensor output. A learning rate of 0.1 was used and no momentum terms were used in the neural network. This research has shown that an artificial neural network can accurately estimate the confidence level of individual sensors in an array of partially selective sensors. This research has also shown that the neural network`s ability to determine the confidence level is influenced by the complexity of the sensor`s response and that the neural network is able to estimate the confidence levels even if more than one sensor is in error. The fundamentals behind this research could be applied to other configurations besides arrays of partially selective sensors, such as an array of sensors separated spatially. An example of such a configuration could be an array of temperature sensors in a tank that is not in

  11. Specification and Aggregation Errors in Environmentally Extended Input-Output Models

    NARCIS (Netherlands)

    Bouwmeester, Maaike C.; Oosterhaven, Jan

    This article considers the specification and aggregation errors that arise from estimating embodied emissions and embodied water use with environmentally extended national input-output (IO) models, instead of with an environmentally extended international IO model. Model specification errors result

  12. The STS-93 crew pose in front of Columbia

    Science.gov (United States)

    1999-01-01

    The STS-93 crew pose in front of the Space Shuttle orbiter Columbia following their landing on runway 33 at the Shuttle Landing Facility. Main gear touchdown occurred at 11:20:35 p.m. EDT on July 27. From left to right, they are Mission Specialists Catherine G. Coleman (Ph.D.) and Stephen A. Hawley (Ph.D.), Pilot Jeffrey S. Ashby, Commander Eileen Collins, and Mission Specialist Michel Tognini of France, with the Centre National d'Etudes Spatiales (CNES). The mission's primary objective was to deploy the Chandra X-ray Observatory, which will allow scientists from around the world to study some of the most distant, powerful and dynamic objects in the universe. This was the 95th flight in the Space Shuttle program and the 26th for Columbia. The landing was the 19th consecutive Shuttle landing in Florida and the 12th night landing in Shuttle program history. On this mission, Collins became the first woman to serve as a Shuttle commander.

  13. STS-93 Commander Collins poses in front of Columbia

    Science.gov (United States)

    1999-01-01

    STS-93 Commander Eileen Collins poses in front of the Space Shuttle orbiter Columbia following her textbook landing on runway 33 at the Shuttle Landing Facility. Main gear touchdown occurred at 11:20:35 p.m. EDT on July 27. On this mission, Collins became the first woman to serve as a Shuttle commander. Also on board were her fellow STS-93 crew members: Pilot Jeffrey S. Ashby and Mission Specialists Stephen A. Hawley (Ph.D.), Catherine G. Coleman (Ph.D.) and Michel Tognini of France, with the Centre National d'Etudes Spatiales (CNES). The mission's primary objective was to deploy the Chandra X-ray Observatory, which will allow scientists from around the world to study some of the most distant, powerful and dynamic objects in the universe. This was the 95th flight in the Space Shuttle program and the 26th for Columbia. The landing was the 19th consecutive Shuttle landing in Florida and the 12th night landing in Shuttle program history.

  14. 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.

  15. The role of the posed smile in overall facial esthetics.

    Science.gov (United States)

    Havens, David C; McNamara, James A; Sigler, Lauren M; Baccetti, Tiziano

    2010-03-01

    To evaluate the role of the posed smile in overall facial esthetics, as determined by laypersons and orthodontists. Twenty orthodontists and 20 lay evaluators were asked to perform six Q-sorts on different photographs of 48 white female subjects. The six Q-sorts consisted of three different photographs for each of two time points (pre- and posttreatment), as follows: (1) smile-only, (2) face without the smile, and (3) face with the smile. The evaluators determined a split-line for attractive and unattractive images at the end of each Q-sort. The proportions of attractive patients were compared across Q-sorts using a Wilcoxon signed-rank test for paired data. The evaluators also ranked nine facial/dental characteristics at the completion of the six Q-sorts. Evaluators found the pretreatment face without the smile to be significantly more attractive than the face with the smile or the smile-only photographs. Dissimilar results were seen posttreatment; there was not a significant difference between the three posttreatment photographs. The two panels agreed on the proportion of "attractive" subjects but differed on the attractiveness level of each individual subject. The presence of a malocclusion has a negative impact on facial attractiveness. Orthodontic correction of a malocclusion affects overall facial esthetics positively. Laypeople and orthodontists agree on what is attractive. Overall facial harmony is the most important characteristic used in deciding facial attractiveness.

  16. 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.   

  17. Multiscale analysis for ill-posed problems with semi-discrete Tikhonov regularization

    International Nuclear Information System (INIS)

    Zhong, Min; Lu, Shuai; Cheng, Jin

    2012-01-01

    Using compactly supported radial basis functions of varying radii, Wendland has shown how a multiscale analysis can be applied to the approximation of Sobolev functions on a bounded domain, when the available data are discrete and noisy. Here, we examine the application of this analysis to the solution of linear moderately ill-posed problems using semi-discrete Tikhonov–Phillips regularization. As in Wendland’s work, the actual multiscale approximation is constructed by a sequence of residual corrections, where different support radii are employed to accommodate different scales. The convergence of the algorithm for noise-free data is given. Based on the Morozov discrepancy principle, a posteriori parameter choice rule and error estimates for the noisy data are derived. Two numerical examples are presented to illustrate the appropriateness of the proposed method. (paper)

  18. High Output Piezo/Triboelectric Hybrid Generator

    Science.gov (United States)

    Jung, Woo-Suk; Kang, Min-Gyu; Moon, Hi Gyu; Baek, Seung-Hyub; Yoon, Seok-Jin; Wang, Zhong-Lin; Kim, Sang-Woo; Kang, Chong-Yun

    2015-03-01

    Recently, piezoelectric and triboelectric energy harvesting devices have been developed to convert mechanical energy into electrical energy. Especially, it is well known that triboelectric nanogenerators have a simple structure and a high output voltage. However, whereas nanostructures improve the output of triboelectric generators, its fabrication process is still complicated and unfavorable in term of the large scale and long-time durability of the device. Here, we demonstrate a hybrid generator which does not use nanostructure but generates much higher output power by a small mechanical force and integrates piezoelectric generator into triboelectric generator, derived from the simultaneous use of piezoelectric and triboelectric mechanisms in one press-and-release cycle. This hybrid generator combines high piezoelectric output current and triboelectric output voltage, which produces peak output voltage of ~370 V, current density of ~12 μA.cm-2, and average power density of ~4.44 mW.cm-2. The output power successfully lit up 600 LED bulbs by the application of a 0.2 N mechanical force and it charged a 10 μF capacitor to 10 V in 25 s. Beyond energy harvesting, this work will provide new opportunities for developing a small, built-in power source in self-powered electronics such as mobile electronics.

  19. High Output Piezo/Triboelectric Hybrid Generator

    Science.gov (United States)

    Jung, Woo-Suk; Kang, Min-Gyu; Moon, Hi Gyu; Baek, Seung-Hyub; Yoon, Seok-Jin; Wang, Zhong-Lin; Kim, Sang-Woo; Kang, Chong-Yun

    2015-01-01

    Recently, piezoelectric and triboelectric energy harvesting devices have been developed to convert mechanical energy into electrical energy. Especially, it is well known that triboelectric nanogenerators have a simple structure and a high output voltage. However, whereas nanostructures improve the output of triboelectric generators, its fabrication process is still complicated and unfavorable in term of the large scale and long-time durability of the device. Here, we demonstrate a hybrid generator which does not use nanostructure but generates much higher output power by a small mechanical force and integrates piezoelectric generator into triboelectric generator, derived from the simultaneous use of piezoelectric and triboelectric mechanisms in one press-and-release cycle. This hybrid generator combines high piezoelectric output current and triboelectric output voltage, which produces peak output voltage of ~370 V, current density of ~12 μA·cm−2, and average power density of ~4.44 mW·cm−2. The output power successfully lit up 600 LED bulbs by the application of a 0.2 N mechanical force and it charged a 10 μF capacitor to 10 V in 25 s. Beyond energy harvesting, this work will provide new opportunities for developing a small, built-in power source in self-powered electronics such as mobile electronics. PMID:25791299

  20. Global sensitivity analysis for models with spatially dependent outputs

    International Nuclear Information System (INIS)

    Iooss, B.; Marrel, A.; Jullien, M.; Laurent, B.

    2011-01-01

    The global sensitivity analysis of a complex numerical model often calls for the estimation of variance-based importance measures, named Sobol' indices. Meta-model-based techniques have been developed in order to replace the CPU time-expensive computer code with an inexpensive mathematical function, which predicts the computer code output. The common meta-model-based sensitivity analysis methods are well suited for computer codes with scalar outputs. However, in the environmental domain, as in many areas of application, the numerical model outputs are often spatial maps, which may also vary with time. In this paper, we introduce an innovative method to obtain a spatial map of Sobol' indices with a minimal number of numerical model computations. It is based upon the functional decomposition of the spatial output onto a wavelet basis and the meta-modeling of the wavelet coefficients by the Gaussian process. An analytical example is presented to clarify the various steps of our methodology. This technique is then applied to a real hydrogeological case: for each model input variable, a spatial map of Sobol' indices is thus obtained. (authors)

  1. Nonlinear observer output-feedback MPC treatment scheduling for HIV

    Directory of Open Access Journals (Sweden)

    Zurakowski Ryan

    2011-05-01

    Full Text Available Abstract Background Mathematical models of the immune response to the Human Immunodeficiency Virus demonstrate the potential for dynamic schedules of Highly Active Anti-Retroviral Therapy to enhance Cytotoxic Lymphocyte-mediated control of HIV infection. Methods In previous work we have developed a model predictive control (MPC based method for determining optimal treatment interruption schedules for this purpose. In this paper, we introduce a nonlinear observer for the HIV-immune response system and an integrated output-feedback MPC approach for implementing the treatment interruption scheduling algorithm using the easily available viral load measurements. We use Monte-Carlo approaches to test robustness of the algorithm. Results The nonlinear observer shows robust state tracking while preserving state positivity both for continuous and discrete measurements. The integrated output-feedback MPC algorithm stabilizes the desired steady-state. Monte-Carlo testing shows significant robustness to modeling error, with 90% success rates in stabilizing the desired steady-state with 15% variance from nominal on all model parameters. Conclusions The possibility of enhancing immune responsiveness to HIV through dynamic scheduling of treatment is exciting. Output-feedback Model Predictive Control is uniquely well-suited to solutions of these types of problems. The unique constraints of state positivity and very slow sampling are addressable by using a special-purpose nonlinear state estimator, as described in this paper. This shows the possibility of using output-feedback MPC-based algorithms for this purpose.

  2. Forecasting the Romanian sectoral economy using the input-output method

    Directory of Open Access Journals (Sweden)

    Liliana DUGULEANĂ

    2017-07-01

    Full Text Available The purpose of this paper is to forecast the sectoral output in 2013 based on the input-output structure of Romanian economy in 2010. Considering that the economic linkage mechanisms do not easily change during certain time periods, the forecasting is possible, even if not in the sequence of the time passing. Using the technical matrix of the sectoral structure described for year 2010 and some known indicators of the economic sectors, as the value added for each sector in 2013, the sectoral output is projected for 2013. The Romanian GDP in 2013 is estimated based on the input-output model. From a managerial perspective, this study is useful to forecast the sectoral output and to understand the sectoral behaviour, based on the input-output analysis of the value added, the compensation for employees and the final demand, which were considered here.

  3. 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.

  4. 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…

  5. Cultural adaptations to the differential threats posed by hot versus cold climates.

    Science.gov (United States)

    Murray, Damian R

    2013-10-01

    Hot and cold climates have posed differential threats to human survival throughout history. Cold temperatures can pose direct threats to survival in themselves, whereas hot temperatures may pose threats indirectly through higher prevalence of infectious disease. These differential threats yield convergent predictions for the relationship between more demanding climates and freedom of expression, but divergent predictions for freedom from discrimination.

  6. 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.

  7. Human pose recovery using wireless inertial measurement units

    International Nuclear Information System (INIS)

    Lin, Jonathan F S; Kulić, Dana

    2012-01-01

    Many applications in rehabilitation and sports training require the assessment of the patient’s status based on observation of their movement. Small wireless sensors, such as accelerometers and gyroscopes, can be utilized to provide a quantitative measure of the human movement for assessment. In this paper, a kinematics-based approach is developed to estimate human leg posture and velocity from wearable sensors during the performance of typical physiotherapy and training exercises. The proposed approach uses an extended Kalman filter to estimate joint angles from accelerometer and gyroscopic data and is capable of recovering joint angles from arbitrary 3D motion. Additional joint limit constraints are implemented to reduce drift, and an automated approach is developed for estimating and adapting the process noise during online estimation. The approach is validated through a user study consisting of 20 subjects performing knee and hip rehabilitation exercises. When compared to motion capture, the approach achieves an average root-mean-square error of 4.27 cm for unconstrained motion, with an average joint error of 6.5°. The average root-mean-square error is 3.31 cm for sagittal planar motion, with an average joint error of 4.3°. (paper)

  8. General Models for Assessing Hazards Aircraft Pose to Surface Facilities

    International Nuclear Information System (INIS)

    Ragan, G.E.

    2002-01-01

    This paper derives formulas for estimating the frequency of accidental aircraft crashes into surface facilities. Objects unintentionally dropped from aircraft are also considered. The approach allows the facility to be well within the flight area; inside the flight area, but close to the edge; or completely outside the flight area

  9. Farm-Level Determinants of output Commercialization:

    African Journals Online (AJOL)

    MARC-AB

    Ethiopian Institute of Agricultural Research. አኀፅሮተ- ... haricot bean output commercialization among smallholder farmers in moisture-stress areas of ..... the American Agricultural Economics Association Annual Meeting, Orlando, Florida, July.

  10. Endogenous Money, Output and Prices in India

    OpenAIRE

    Das, Rituparna

    2009-01-01

    This paper proposes to quantify the macroeconometric relationships among the variables broad money, lending by banks, price, and output in India using simultaneous equations system keeping in view the issue of endogeneity.

  11. Scintillation camera with improved output means

    International Nuclear Information System (INIS)

    Lange, K.; Wiesen, E.J.; Woronowicz, E.M.

    1978-01-01

    In a scintillation camera system, the output pulse signals from an array of photomultiplier tubes are coupled to the inputs of individual preamplifiers. The preamplifier output signals are coupled to circuitry for computing the x and y coordinates of the scintillations. A cathode ray oscilloscope is used to form an image corresponding with the pattern in which radiation is emitted by a body. Means for improving the uniformity and resolution of the scintillations are provided. The means comprise biasing means coupled to the outputs of selected preamplifiers so that output signals below a predetermined amplitude are not suppressed and signals falling within increasing ranges of amplitudes are increasingly suppressed. In effect, the biasing means make the preamplifiers non-linear for selected signal levels

  12. Input-output rearrangement of isolated converters

    DEFF Research Database (Denmark)

    Madsen, Mickey Pierre; Kovacevic, Milovan; Mønster, Jakob Døllner

    2015-01-01

    This paper presents a new way of rearranging the input and output of isolated converters. The new arrangement posses several advantages, as increased voltage range, higher power handling capabilities, reduced voltage stress and improved efficiency, for applications where galvanic isolation...

  13. Multiple Input - Multiple Output (MIMO) SAR

    Data.gov (United States)

    National Aeronautics and Space Administration — This effort will research and implement advanced Multiple-Input Multiple-Output (MIMO) Synthetic Aperture Radar (SAR) techniques which have the potential to improve...

  14. Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems.

    Science.gov (United States)

    Li, Yafeng; Hua, Changchun; Wu, Shuangshuang; Guan, Xinping

    2017-01-31

    In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.

  15. Constancy of radiation output during diagnostic X-ray exposures

    International Nuclear Information System (INIS)

    Ardran, G.M.; Crooks, H.E.; Birch, R.

    1978-01-01

    Variation in X-ray output and quality during a diagnostic exposure can be undesirable and may result in unnecessary dose to the patient. When significant build-up or decay periods are present errors will arise if factors obtained under steady-state conditions are employed to estimate the exposure. These parameters must be taken into account when calibrating X-ray generators. A variable speed spinning film device and a spectrometry system have been used to measure the variations under fluoroscopic and radiographic conditions for a number of generators. Variations in output due to filament heating, voltage supply and rectification, cable capacity and target pitting have been demonstrated. At low fluoroscopic currents, large surges and long decays have been observed; the significance of these effects is considered. (author)

  16. LOAD THAT MAXIMIZES POWER OUTPUT IN COUNTERMOVEMENT JUMP

    Directory of Open Access Journals (Sweden)

    Pedro Jimenez-Reyes

    2016-02-01

    Full Text Available ABSTRACT Introduction: One of the main problems faced by strength and conditioning coaches is the issue of how to objectively quantify and monitor the actual training load undertaken by athletes in order to maximize performance. It is well known that performance of explosive sports activities is largely determined by mechanical power. Objective: This study analysed the height at which maximal power output is generated and the corresponding load with which is achieved in a group of male-trained track and field athletes in the test of countermovement jump (CMJ with extra loads (CMJEL. Methods: Fifty national level male athletes in sprinting and jumping performed a CMJ test with increasing loads up to a height of 16 cm. The relative load that maximized the mechanical power output (Pmax was determined using a force platform and lineal encoder synchronization and estimating the power by peak power, average power and flight time in CMJ. Results: The load at which the power output no longer existed was at a height of 19.9 ± 2.35, referring to a 99.1 ± 1% of the maximum power output. The load that maximizes power output in all cases has been the load with which an athlete jump a height of approximately 20 cm. Conclusion: These results highlight the importance of considering the height achieved in CMJ with extra load instead of power because maximum power is always attained with the same height. We advise for the preferential use of the height achieved in CMJEL test, since it seems to be a valid indicative of an individual's actual neuromuscular potential providing a valid information for coaches and trainers when assessing the performance status of our athletes and to quantify and monitor training loads, measuring only the height of the jump in the exercise of CMJEL.

  17. Enhanced DEA model with undesirable output and interval data for rice growing farmers performance assessment

    Energy Technology Data Exchange (ETDEWEB)

    Khan, Sahubar Ali Mohd. Nadhar, E-mail: sahubar@uum.edu.my; Ramli, Razamin, E-mail: razamin@uum.edu.my; Baten, M. D. Azizul, E-mail: baten-math@yahoo.com [School of Quantitative Sciences, UUM College of Arts and Sciences, Universiti Utara Malaysia, 06010 Sintok, Kedah (Malaysia)

    2015-12-11

    Agricultural production process typically produces two types of outputs which are economic desirable as well as environmentally undesirable outputs (such as greenhouse gas emission, nitrate leaching, effects to human and organisms and water pollution). In efficiency analysis, this undesirable outputs cannot be ignored and need to be included in order to obtain the actual estimation of firms efficiency. Additionally, climatic factors as well as data uncertainty can significantly affect the efficiency analysis. There are a number of approaches that has been proposed in DEA literature to account for undesirable outputs. Many researchers has pointed that directional distance function (DDF) approach is the best as it allows for simultaneous increase in desirable outputs and reduction of undesirable outputs. Additionally, it has been found that interval data approach is the most suitable to account for data uncertainty as it is much simpler to model and need less information regarding its distribution and membership function. In this paper, an enhanced DEA model based on DDF approach that considers undesirable outputs as well as climatic factors and interval data is proposed. This model will be used to determine the efficiency of rice farmers who produces undesirable outputs and operates under uncertainty. It is hoped that the proposed model will provide a better estimate of rice farmers’ efficiency.

  18. Enhanced DEA model with undesirable output and interval data for rice growing farmers performance assessment

    International Nuclear Information System (INIS)

    Khan, Sahubar Ali Mohd. Nadhar; Ramli, Razamin; Baten, M. D. Azizul

    2015-01-01

    Agricultural production process typically produces two types of outputs which are economic desirable as well as environmentally undesirable outputs (such as greenhouse gas emission, nitrate leaching, effects to human and organisms and water pollution). In efficiency analysis, this undesirable outputs cannot be ignored and need to be included in order to obtain the actual estimation of firms efficiency. Additionally, climatic factors as well as data uncertainty can significantly affect the efficiency analysis. There are a number of approaches that has been proposed in DEA literature to account for undesirable outputs. Many researchers has pointed that directional distance function (DDF) approach is the best as it allows for simultaneous increase in desirable outputs and reduction of undesirable outputs. Additionally, it has been found that interval data approach is the most suitable to account for data uncertainty as it is much simpler to model and need less information regarding its distribution and membership function. In this paper, an enhanced DEA model based on DDF approach that considers undesirable outputs as well as climatic factors and interval data is proposed. This model will be used to determine the efficiency of rice farmers who produces undesirable outputs and operates under uncertainty. It is hoped that the proposed model will provide a better estimate of rice farmers’ efficiency

  19. Enhanced DEA model with undesirable output and interval data for rice growing farmers performance assessment

    Science.gov (United States)

    Khan, Sahubar Ali Mohd. Nadhar; Ramli, Razamin; Baten, M. D. Azizul

    2015-12-01

    Agricultural production process typically produces two types of outputs which are economic desirable as well as environmentally undesirable outputs (such as greenhouse gas emission, nitrate leaching, effects to human and organisms and water pollution). In efficiency analysis, this undesirable outputs cannot be ignored and need to be included in order to obtain the actual estimation of firms efficiency. Additionally, climatic factors as well as data uncertainty can significantly affect the efficiency analysis. There are a number of approaches that has been proposed in DEA literature to account for undesirable outputs. Many researchers has pointed that directional distance function (DDF) approach is the best as it allows for simultaneous increase in desirable outputs and reduction of undesirable outputs. Additionally, it has been found that interval data approach is the most suitable to account for data uncertainty as it is much simpler to model and need less information regarding its distribution and membership function. In this paper, an enhanced DEA model based on DDF approach that considers undesirable outputs as well as climatic factors and interval data is proposed. This model will be used to determine the efficiency of rice farmers who produces undesirable outputs and operates under uncertainty. It is hoped that the proposed model will provide a better estimate of rice farmers' efficiency.

  20. 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

  1. Book Trade Research and Statistics. Prices of U.S. and Foreign Published Materials; Book Title Output and Average Prices: 2000 Final and 2001 Preliminary Figures; Book Sales Statistics, 2001: AAP Preliminary Estimates; U.S. Book Exports and Imports: 2001; Number of Book Outlets in the United States and Canada; Review Media Statistics.

    Science.gov (United States)

    Sullivan, Sharon G.; Barr, Catherine; Grabois, Andrew

    2002-01-01

    Includes six articles that report on prices of U.S. and foreign published materials; book title output and average prices; book sales statistics; book exports and imports; book outlets in the U.S. and Canada; and review media statistics. (LRW)

  2. Book Trade Research and Statistics. Prices of U.S. and Foreign Published Materials; Book Title Output and Average Prices: 2001 Final and 2002 Preliminary Figures; Book Sales Statistics, 2002: AAP Preliminary Estimates; U.S. Book Exports and Imports:2002; Number of Book Outlets in the United States and Canada; Review Media Statistics.

    Science.gov (United States)

    Sullivan, Sharon G.; Grabois, Andrew; Greco, Albert N.

    2003-01-01

    Includes six reports related to book trade statistics, including prices of U.S. and foreign materials; book title output and average prices; book sales statistics; book exports and imports; book outlets in the U.S. and Canada; and numbers of books and other media reviewed by major reviewing publications. (LRW)

  3. Residual gravimetric method to measure nebulizer output.

    Science.gov (United States)

    Vecellio None, Laurent; Grimbert, Daniel; Bordenave, Joelle; Benoit, Guy; Furet, Yves; Fauroux, Brigitte; Boissinot, Eric; De Monte, Michele; Lemarié, Etienne; Diot, Patrice

    2004-01-01

    The aim of this study was to assess a residual gravimetric method based on weighing dry filters to measure the aerosol output of nebulizers. This residual gravimetric method was compared to assay methods based on spectrophotometric measurement of terbutaline (Bricanyl, Astra Zeneca, France), high-performance liquid chromatography (HPLC) measurement of tobramycin (Tobi, Chiron, U.S.A.), and electrochemical measurements of NaF (as defined by the European standard). Two breath-enhanced jet nebulizers, one standard jet nebulizer, and one ultrasonic nebulizer were tested. Output produced by the residual gravimetric method was calculated by weighing the filters both before and after aerosol collection and by filter drying corrected by the proportion of drug contained in total solute mass. Output produced by the electrochemical, spectrophotometric, and HPLC methods was determined after assaying the drug extraction filter. The results demonstrated a strong correlation between the residual gravimetric method (x axis) and assay methods (y axis) in terms of drug mass output (y = 1.00 x -0.02, r(2) = 0.99, n = 27). We conclude that a residual gravimetric method based on dry filters, when validated for a particular agent, is an accurate way of measuring aerosol output.

  4. Output characteristics of Stirling thermoacoustic engine

    International Nuclear Information System (INIS)

    Sun Daming; Qiu Limin; Wang Bo; Xiao Yong; Zhao Liang

    2008-01-01

    A thermoacoustic engine (TE), which converts thermal energy into acoustic power by the thermoacoustic effect, shows several advantages due to the absence of moving parts, such as high reliability and long lifetime associated with reduced manufacturing costs. Power output and efficiency are important criteria of the performance of a TE. In order to increase the acoustic power output and thermal efficiency of a Stirling TE, the acoustic power distribution in the engine is studied with the variable load method. It is found that the thermal efficiency is independent of the output locations along the engine under the same acoustic power output. Furthermore, when the pressure ratio is kept constant at one location along the TE, it is beneficial to increasing the thermal efficiency by exporting more acoustic power. With nitrogen of 2.5 MPa as working gas and the pressure ratio at the compliance of 1.20 in the experiments, the acoustic power is measured at the compliance and the resonator simultaneously. The maximum power output, thermal efficiency and exergy efficiency reach 390.0 W, 11.2% and 16.0%, which are increased by 51.4%, 24.4% and 19.4%, respectively, compared to those with a single R-C load with 750 ml reservoir at the compliance. This research will be instructive for increasing the efficiency and making full use of the acoustic energy of a TE

  5. 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.

  6. From Static Output Feedback to Structured Robust Static Output Feedback: A Survey

    OpenAIRE

    Sadabadi , Mahdieh ,; Peaucelle , Dimitri

    2016-01-01

    This paper reviews the vast literature on static output feedback design for linear time-invariant systems including classical results and recent developments. In particular, we focus on static output feedback synthesis with performance specifications, structured static output feedback, and robustness. The paper provides a comprehensive review on existing design approaches including iterative linear matrix inequalities heuristics, linear matrix inequalities with rank constraints, methods with ...

  7. Relationship between cardiac output and effective renal plasma flow in patients with cardiac disease

    Energy Technology Data Exchange (ETDEWEB)

    McGriffin, D; Tauxe, W N; Lewis, C; Karp, R; Mantle, J

    1984-12-01

    The relationship between effective renal plasma flow (ERPF) and cardiac output was examined in 46 patients (22 with congestive heart failure and 24 following cardiac surgical procedures) by simultaneously measuring the global ERPF by the single-injection method and cardiac output by the thermodilution method. Of the patients in the heart-failure group, 21 also had pulmonary artery end diastolic pressure (PAEDP) recorded at the same time. ERPF and cardiac output were found to be related by the regression equations: cardiac output = 2.08 + 0.0065 ERPF (r, 080), with a SE of estimate of 0.81 l/min. ERPF and PAEDP were related by the regression equation: PAEDP = 42.02 - 0.0675 ERPF (r, 0.86), with a SE of estimate of 5.5 mm Hg. ERPF may be a useful noninvasive method of estimating cardiac output if it is known that no intrinsic kidney disease is present, and if the error of 0.81 l/min (1 SE of estimate) is within the range of clinical usefulness. The error is principally attributable to the determination of cardiac output by the thermodilution method.

  8. Robust Output Model Predictive Control of an Unstable Rijke Tube

    Directory of Open Access Journals (Sweden)

    Fabian Jarmolowitz

    2012-01-01

    Full Text Available This work investigates the active control of an unstable Rijke tube using robust output model predictive control (RMPC. As internal model a polytopic linear system with constraints is assumed to account for uncertainties. For guaranteed stability, a linear state feedback controller is designed using linear matrix inequalities and used within a feedback formulation of the model predictive controller. For state estimation a robust gain-scheduled observer is developed. It is shown that the proposed RMPC ensures robust stability under constraints over the considered operating range.

  9. Modeling uncertainties in workforce disruptions from influenza pandemics using dynamic input-output analysis.

    Science.gov (United States)

    El Haimar, Amine; Santos, Joost R

    2014-03-01

    Influenza pandemic is a serious disaster that can pose significant disruptions to the workforce and associated economic sectors. This article examines the impact of influenza pandemic on workforce availability within an interdependent set of economic sectors. We introduce a simulation model based on the dynamic input-output model to capture the propagation of pandemic consequences through the National Capital Region (NCR). The analysis conducted in this article is based on the 2009 H1N1 pandemic data. Two metrics were used to assess the impacts of the influenza pandemic on the economic sectors: (i) inoperability, which measures the percentage gap between the as-planned output and the actual output of a sector, and (ii) economic loss, which quantifies the associated monetary value of the degraded output. The inoperability and economic loss metrics generate two different rankings of the critical economic sectors. Results show that most of the critical sectors in terms of inoperability are sectors that are related to hospitals and health-care providers. On the other hand, most of the sectors that are critically ranked in terms of economic loss are sectors with significant total production outputs in the NCR such as federal government agencies. Therefore, policy recommendations relating to potential mitigation and recovery strategies should take into account the balance between the inoperability and economic loss metrics. © 2013 Society for Risk Analysis.

  10. Reliability and Energy Output of Bifacial Modules

    Energy Technology Data Exchange (ETDEWEB)

    Van Aken, B.B.; Jansen, M.J.; Dekker, N.J.J. [ECN Solar Energy, Petten (Netherlands)

    2013-06-15

    Although flash tests under standard test conditions yields lower power due to transmittance of the back sheet, bifacial modules are expected to outperform their monofacial equivalents in terms of yearly energy output in the field. We compare flash tests for bifacial modules with and without a light scattering panel directly behind the modules: 3% more power output is obtained. We also report on the damp-heat reliability of modules with transparent back sheet. Finally we will present the results of an outdoor study comparing modules with transparent back sheet and modules with state-of-the-art AR coating on the front glass.

  11. The light output of BGO crystals

    International Nuclear Information System (INIS)

    Gong Zhufang; Ma Wengan; Lin Zhirong; Wang Zhaomin; Xu Zhizong; Fan Yangmei

    1987-01-01

    The dependence of light output on the surface treatment of BGO crystals has been tested. The results of experiments and Monte Carlo calculation indicate that for a tapered BGO crystal the best way to improve the uniformity and the energy resolution and to obtain higher light output is roughing the surface coupled to photomultiplier tube. The authors also observed that different wrapping method can effect its uniformity and resolutoin. Monte Carlo calculation indicates that the higher one of the 'double peaks' is the photoelectron peak of γ rays

  12. Investigation of solar photovoltaic module power output by various models

    International Nuclear Information System (INIS)

    Jakhrani, A.Q.; Othman, A.K.; Rigit, A.R.H.; Baini, R.

    2012-01-01

    This paper aims to investigate the power output of a solar photovoltaic module by various models and to formulate a suitable model for predicting the performance of solar photovoltaic modules. The model was used to correct the configurations of solar photovoltaic systems for sustainable power supply. Different types of models namely the efficiency, power, fill factor and current-voltage characteristic curve models have been reviewed. It was found that the examined models predicted a 40% yield of the rated power in cloudy weather conditions and up to 80% in clear skies. The models performed well in terms of electrical efficiency in cloudy days if the influence of low irradiance were incorporated. Both analytical and numerical methods were employed in the formulation of improved model which gave +- 2% error when compared with the rated power output of solar photovoltaic module. The proposed model is more practical in terms of number of variables used and acceptable performance in humid atmospheres. Therefore, it could be useful for the estimation of power output of the solar photovoltaic systems in Sarawak region. (author)

  13. Output power distributions of mobile radio base stations based on network measurements

    International Nuclear Information System (INIS)

    Colombi, D; Thors, B; Persson, T; Törnevik, C; Wirén, N; Larsson, L-E

    2013-01-01

    In this work output power distributions of mobile radio base stations have been analyzed for 2G and 3G telecommunication systems. The approach is based on measurements in selected networks using performance surveillance tools part of the network Operational Support System (OSS). For the 3G network considered, direct measurements of output power levels were possible, while for the 2G networks, output power levels were estimated from measurements of traffic volumes. Both voice and data services were included in the investigation. Measurements were conducted for large geographical areas, to ensure good overall statistics, as well as for smaller areas to investigate the impact of different environments. For high traffic hours, the 90th percentile of the averaged output power was found to be below 65% and 45% of the available output power for the 2G and 3G systems, respectively.

  14. Output power distributions of mobile radio base stations based on network measurements

    Science.gov (United States)

    Colombi, D.; Thors, B.; Persson, T.; Wirén, N.; Larsson, L.-E.; Törnevik, C.

    2013-04-01

    In this work output power distributions of mobile radio base stations have been analyzed for 2G and 3G telecommunication systems. The approach is based on measurements in selected networks using performance surveillance tools part of the network Operational Support System (OSS). For the 3G network considered, direct measurements of output power levels were possible, while for the 2G networks, output power levels were estimated from measurements of traffic volumes. Both voice and data services were included in the investigation. Measurements were conducted for large geographical areas, to ensure good overall statistics, as well as for smaller areas to investigate the impact of different environments. For high traffic hours, the 90th percentile of the averaged output power was found to be below 65% and 45% of the available output power for the 2G and 3G systems, respectively.

  15. Perbedaan Keterampilan Pemecahan Masalah pada Pembelajaran Fisika Menggunakan Metode Problem Posing dan Problem Solving

    OpenAIRE

    Rahman, Adetya; Hartini, Sri; An'nur, Syubhan

    2015-01-01

    Teachers should be able to choose the method of learning that can help students in learning physics, namely the method of problem posing and problem solving method. The purposes of this study are : (1) describe the learning physics skills by using problem posing method, (2) describe the learning physics skills by using problem solving method, and (3) know difference between learning physics skills by using problem posing method and problem solving method in class XI of Science SMAN 6 Banjarma...

  16. Determining the confidence levels of sensor outputs using neural networks

    International Nuclear Information System (INIS)

    Broten, G.S.; Wood, H.C.

    1995-01-01

    This paper describes an approach for determining the confidence level of a sensor output using multi-sensor arrays, sensor fusion and artificial neural networks. The authors have shown in previous work that sensor fusion and artificial neural networks can be used to learn the relationships between the outputs of an array of simulated partially selective sensors and the individual analyte concentrations in a mixture of analyses. Other researchers have shown that an array of partially selective sensors can be used to determine the individual gas concentrations in a gaseous mixture. The research reported in this paper shows that it is possible to extract confidence level information from an array of partially selective sensors using artificial neural networks. The confidence level of a sensor output is defined as a numeric value, ranging from 0% to 100%, that indicates the confidence associated with a output of a given sensor. A three layer back-propagation neural network was trained on a subset of the sensor confidence level space, and was tested for its ability to generalize, where the confidence level space is defined as all possible deviations from the correct sensor output. A learning rate of 0.1 was used and no momentum terms were used in the neural network. This research has shown that an artificial neural network can accurately estimate the confidence level of individual sensors in an array of partially selective sensors. This research has also shown that the neural network's ability to determine the confidence level is influenced by the complexity of the sensor's response and that the neural network is able to estimate the confidence levels even if more than one sensor is in error. The fundamentals behind this research could be applied to other configurations besides arrays of partially selective sensors, such as an array of sensors separated spatially. An example of such a configuration could be an array of temperature sensors in a tank that is not in

  17. Financial Development and Output Growth: A Panel Study for Asian Countries

    Directory of Open Access Journals (Sweden)

    Sangjoon Jun

    2012-03-01

    Full Text Available This paper investigates the relationship between financial markets and output growth for a panel of 27 Asian countries over 1960-2009. It utilizes the recently-developed panel cointegration techniques to test and estimate the long-run equilibrium relationship between real GDP and financial development proxies. Real GDP and financial development variables are found to have unit roots and to be cointegrated, based on various panel unit root tests and panel cointegration tests. We find that there is a statistically significant positive bi-directional cointegrating relationship between financial development and output growth by three distinct methods of panel cointegration estimation. Empirical findings suggest that financial market development promotes output growth and in turn output growth stimulates further financial development.

  18. 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.

  19. Output formatting in Apple-Soft Basic

    International Nuclear Information System (INIS)

    Navale, A.S.

    1987-01-01

    Personal computers are being used extensively in various fields. BASIC is a very popular and widely used language in personal computers. Apple computer is one of the popular machines used for scientific and engineering applications. Presenting output from computers in a neat and easy to read form is very important. Languages like FORTRAN have utility command 'FORMAT' which takes care of the formatting of the output in user-defined form. In some versions of BASIC a PRINT USING facility is available but it is not as powerful as the FORTRAN statement 'FORMAT'. Applesoft basic does not have even this PRINT USING command. Programmers have to write their own program segments to handle output formatting in Applesoft BASIC. Generally, such user written programs are of limited use as they cannot be used easily with other programs. A general purpose and easily transportable subroutine in Applesoft BASIC is presented here for handling output formatting in user-defined structure. The subroutine is nearly as powerful as the FORMAT statement in FORTRAN. It can also be used in other versions of BASIC with very little modifications. 3 tables, 4 refs. (author)

  20. On output regulation for linear systems

    NARCIS (Netherlands)

    Saberi, Ali; Stoorvogel, Antonie Arij; Sannuti, Peddapullaiah

    For both continuous- and discrete-time systems, we revisit the output regulation problem for linear systems. We generalize the problem formulation in order • to expand the class of reference or disturbance signals, • to utilize the derivative or feedforward information of reference signals whenever

  1. Fast Output-sensitive Matrix Multiplication

    DEFF Research Database (Denmark)

    Jacob, Riko; Stöckel, Morten

    2015-01-01

    We consider the problem of multiplying two $U \\times U$ matrices $A$ and $C$ of elements from a field $\\F$. We present a new randomized algorithm that can use the known fast square matrix multiplication algorithms to perform fewer arithmetic operations than the current state of the art for output...

  2. Predicting Color Output of Additive Manufactured Parts

    DEFF Research Database (Denmark)

    Eiríksson, Eyþór Rúnar; Pedersen, David Bue; Aanæs, Henrik

    2015-01-01

    In this paper we address the colorimetric performance of a multicolor additive manufacturing process. A method on how to measure and characterize color performance of said process is presented. Furthermore, a method on predicting the color output is demonstrated, allowing for previsualization...

  3. Multiple output timing and trigger generator

    Energy Technology Data Exchange (ETDEWEB)

    Wheat, Robert M. [Los Alamos National Laboratory; Dale, Gregory E [Los Alamos National Laboratory

    2009-01-01

    In support of the development of a multiple stage pulse modulator at the Los Alamos National Laboratory, we have developed a first generation, multiple output timing and trigger generator. Exploiting Commercial Off The Shelf (COTS) Micro Controller Units (MCU's), the timing and trigger generator provides 32 independent outputs with a timing resolution of about 500 ns. The timing and trigger generator system is comprised of two MCU boards and a single PC. One of the MCU boards performs the functions of the timing and signal generation (the timing controller) while the second MCU board accepts commands from the PC and provides the timing instructions to the timing controller. The PC provides the user interface for adjusting the on and off timing for each of the output signals. This system provides 32 output or timing signals which can be pre-programmed to be in an on or off state for each of 64 time steps. The width or duration of each of the 64 time steps is programmable from 2 {micro}s to 2.5 ms with a minimum time resolution of 500 ns. The repetition rate of the programmed pulse train is only limited by the time duration of the programmed event. This paper describes the design and function of the timing and trigger generator system and software including test results and measurements.

  4. What shapes output of policy reform?

    DEFF Research Database (Denmark)

    Carlsen, Kirsten

    This thesis deals with the factors shaping forest policy output during the stages implementation and bases its main message on empirical findings from the forestry sector in Ghana. Policy and institutional factors are important underlying causes for deforestation, especially in the tropics. Fores...

  5. Monetary policy and regional output in Brazil

    Directory of Open Access Journals (Sweden)

    Rafael Rockenbach da Silva Guimarães

    2014-03-01

    Full Text Available This work presents an analysis of whether the effects of the Brazilian monetary policy on regional outputs are symmetric. The strategy developed combines the techniques of principal component analysis (PCA to decompose the variables that measure regional economic activity into common and region-specific components and vector autoregressions (VAR to observe the behavior of these variables in response to monetary policy shocks. The common component responds to monetary policy as expected. Additionally, the idiosyncratic components of the regions showed no impact of monetary policy. The main finding of this paper is that the monetary policy responses on regional output are symmetrical when the regional output decomposition is performed, and the responses are asymmetrical when this decomposition is not performed. Therefore, performing the regional output decomposition corroborates the economic intuition that monetary policy has no impact on region-specific issues. Once monetary policy affects the common component of the regional economic activity and does not impact its idiosyncratic components, it can be considered symmetrical.

  6. Comparison of cardiac output measurement techniques

    DEFF Research Database (Denmark)

    Espersen, K; Jensen, E W; Rosenborg, D

    1995-01-01

    Simultaneously measured cardiac output obtained by thermodilution (TD), transcutaneous suprasternal ultrasonic Doppler (DOP), CO2-rebreathing (CR) and the direct Fick method (FI) were compared in eleven healthy subjects in a supine position (SU), a sitting position (SI), and during sitting exercise...

  7. The impact of monetary policy on output and inflation in India: A frequency domain analysis

    Directory of Open Access Journals (Sweden)

    Salunkhe Bhavesh

    2017-01-01

    Full Text Available In the recent past, several attempts by the RBI to control inflation through tight monetary policy have ended up slowing the growth process, thereby provoking prolonged discussion among academics and policymakers about the efficacy of monetary policy in India. Against this backdrop, the present study attempts to estimate the causal relationship between monetary policy and its final objectives; i.e., growth, and controlling inflation in India. The methodological tool used is testing for Granger Causality in the frequency domain as developed by Lemmens et al. (2008, and monetary policy has been proxied by the weighted average call money rate. In view of the fact that output gap is one of the determinants of future inflation, an attempt has also been made to study the causal relationship between output gap and inflation. The results of empirical estimation show a bi-directional causality between policy rate and inflation and between policy rate and output, which implies that the monetary authorities in India were equally concerned about inflation and output growth when determining policy. Furthermore, any attempt to control inflation affects output with the same or even greater magnitude than inflation, thereby damaging the growth process. The relationship between output gap and inflation was found to be positive, as reported in earlier studies for India. Furthermore, the output gap causes inflation only in the short-tomediumrun.

  8. Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

    Science.gov (United States)

    Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

    2010-09-01

    This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

  9. Quantitative Analysis Method of Output Loss due to Restriction for Grid-connected PV Systems

    Science.gov (United States)

    Ueda, Yuzuru; Oozeki, Takashi; Kurokawa, Kosuke; Itou, Takamitsu; Kitamura, Kiyoyuki; Miyamoto, Yusuke; Yokota, Masaharu; Sugihara, Hiroyuki

    Voltage of power distribution line will be increased due to reverse power flow from grid-connected PV systems. In the case of high density grid connection, amount of voltage increasing will be higher than the stand-alone grid connection system. To prevent the over voltage of power distribution line, PV system's output will be restricted if the voltage of power distribution line is close to the upper limit of the control range. Because of this interaction, amount of output loss will be larger in high density case. This research developed a quantitative analysis method for PV systems output and losses to clarify the behavior of grid connected PV systems. All the measured data are classified into the loss factors using 1 minute average of 1 second data instead of typical 1 hour average. Operation point on the I-V curve is estimated to quantify the loss due to the output restriction using module temperature, array output voltage, array output current and solar irradiance. As a result, loss due to output restriction is successfully quantified and behavior of output restriction is clarified.

  10. Model output statistics applied to wind power prediction

    Energy Technology Data Exchange (ETDEWEB)

    Joensen, A; Giebel, G; Landberg, L [Risoe National Lab., Roskilde (Denmark); Madsen, H; Nielsen, H A [The Technical Univ. of Denmark, Dept. of Mathematical Modelling, Lyngby (Denmark)

    1999-03-01

    Being able to predict the output of a wind farm online for a day or two in advance has significant advantages for utilities, such as better possibility to schedule fossil fuelled power plants and a better position on electricity spot markets. In this paper prediction methods based on Numerical Weather Prediction (NWP) models are considered. The spatial resolution used in NWP models implies that these predictions are not valid locally at a specific wind farm. Furthermore, due to the non-stationary nature and complexity of the processes in the atmosphere, and occasional changes of NWP models, the deviation between the predicted and the measured wind will be time dependent. If observational data is available, and if the deviation between the predictions and the observations exhibits systematic behavior, this should be corrected for; if statistical methods are used, this approaches is usually referred to as MOS (Model Output Statistics). The influence of atmospheric turbulence intensity, topography, prediction horizon length and auto-correlation of wind speed and power is considered, and to take the time-variations into account, adaptive estimation methods are applied. Three estimation techniques are considered and compared, Extended Kalman Filtering, recursive least squares and a new modified recursive least squares algorithm. (au) EU-JOULE-3. 11 refs.

  11. 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

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

    Science.gov (United States)

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

    2013-01-01

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

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

    Science.gov (United States)

    Kilic, Cigdem

    2015-01-01

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

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

    Science.gov (United States)

    Arikan, Elif Esra; Ünal, Hasan

    2015-01-01

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

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

    Science.gov (United States)

    Leung, Shuk-kwan S.

    2013-01-01

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

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

    Science.gov (United States)

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

    1998-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Science.gov (United States)

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

    2008-08-01

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

  19. Coupled bias-variance tradeoff for cross-pose face recognition.

    Science.gov (United States)

    Li, Annan; Shan, Shiguang; Gao, Wen

    2012-01-01

    Subspace-based face representation can be looked as a regression problem. From this viewpoint, we first revisited the problem of recognizing faces across pose differences, which is a bottleneck in face recognition. Then, we propose a new approach for cross-pose face recognition using a regressor with a coupled bias-variance tradeoff. We found that striking a coupled balance between bias and variance in regression for different poses could improve the regressor-based cross-pose face representation, i.e., the regressor can be more stable against a pose difference. With the basic idea, ridge regression and lasso regression are explored. Experimental results on CMU PIE, the FERET, and the Multi-PIE face databases show that the proposed bias-variance tradeoff can achieve considerable reinforcement in recognition performance.

  20. 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.

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

    Science.gov (United States)

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

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

  2. Multiple regression approach to predict turbine-generator output for Chinshan nuclear power plant

    International Nuclear Information System (INIS)

    Chan, Yea-Kuang; Tsai, Yu-Ching

    2017-01-01

    The objective of this study is to develop a turbine cycle model using the multiple regression approach to estimate the turbine-generator output for the Chinshan Nuclear Power Plant (NPP). The plant operating data was verified using a linear regression model with a corresponding 95% confidence interval for the operating data. In this study, the key parameters were selected as inputs for the multiple regression based turbine cycle model. The proposed model was used to estimate the turbine-generator output. The effectiveness of the proposed turbine cycle model was demonstrated by using plant operating data obtained from the Chinshan NPP Unit 2. The results show that this multiple regression based turbine cycle model can be used to accurately estimate the turbine-generator output. In addition, this study also provides an alternative approach with simple and easy features to evaluate the thermal performance for nuclear power plants.

  3. Multiple regression approach to predict turbine-generator output for Chinshan nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Chan, Yea-Kuang; Tsai, Yu-Ching [Institute of Nuclear Energy Research, Taoyuan City, Taiwan (China). Nuclear Engineering Division

    2017-03-15

    The objective of this study is to develop a turbine cycle model using the multiple regression approach to estimate the turbine-generator output for the Chinshan Nuclear Power Plant (NPP). The plant operating data was verified using a linear regression model with a corresponding 95% confidence interval for the operating data. In this study, the key parameters were selected as inputs for the multiple regression based turbine cycle model. The proposed model was used to estimate the turbine-generator output. The effectiveness of the proposed turbine cycle model was demonstrated by using plant operating data obtained from the Chinshan NPP Unit 2. The results show that this multiple regression based turbine cycle model can be used to accurately estimate the turbine-generator output. In addition, this study also provides an alternative approach with simple and easy features to evaluate the thermal performance for nuclear power plants.

  4. Cardiac output measurement instruments controlled by microprocessors

    International Nuclear Information System (INIS)

    Spector, M.; Barritault, L.; Boeri, C.; Fauchet, M.; Gambini, D.; Vernejoul, P. de

    The nuclear medicine and biophysics laboratory of the Necker-Enfants malades University Hospital Centre has built a microprocessor controlled Cardiac flowmetre. The principle of the cardiac output measurement from a radiocardiogram is well established. After injection of a radioactive indicator upstream from the heart cavities the dilution curve is obtained by the use of a gamma-ray precordial detector. This curve normally displays two peaks due to passage of the indicator into the right and left sides of the heart respectively. The output is then obtained from the stewart Hamilton principle once recirculation is eliminated. The graphic method used for the calculation however is long and tedious. The decreasing fraction of the dilution curve is projected in logarithmic space in order to eliminate recirculation by determining the mean straight line from which the decreasing exponential is obtained. The principle of the use of microprocessors is explained (electronics, logics) [fr

  5. Unregulated heat output of a storage heater

    OpenAIRE

    Lysak, Oleg Віталійович

    2017-01-01

    In the article the factors determining the heat transfer between the outer surfaces of a storage heater and the ambient air. This heat exchange is unregulated, and its definition is a precondition for assessing heat output range of this type of units. It was made the analysis of the literature on choosing insulating materials for each of the external surfaces of storage heaters: in foreign literature, there are recommendations on the use of various types of insulation depending on the type of...

  6. Computing multiple-output regression quantile regions

    Czech Academy of Sciences Publication Activity Database

    Paindaveine, D.; Šiman, Miroslav

    2012-01-01

    Roč. 56, č. 4 (2012), s. 840-853 ISSN 0167-9473 R&D Projects: GA MŠk(CZ) 1M06047 Institutional research plan: CEZ:AV0Z10750506 Keywords : halfspace depth * multiple-output regression * parametric linear programming * quantile regression Subject RIV: BA - General Mathematics Impact factor: 1.304, year: 2012 http://library.utia.cas.cz/separaty/2012/SI/siman-0376413.pdf

  7. Galois connection for multiple-output operations

    Czech Academy of Sciences Publication Activity Database

    Jeřábek, Emil

    2018-01-01

    Roč. 79 (2018), č. článku 17. ISSN 0002-5240 EU Projects: European Commission(XE) 339691 - FEALORA Institutional support: RVO:67985840 Keywords : clones and coclones * Galois connection * multiple-output operations Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics Impact factor: 0.625, year: 2016 https://link.springer.com/ article /10.1007%2Fs00012-018-0499-7

  8. Carnot efficiency at divergent power output

    Science.gov (United States)

    Polettini, Matteo; Esposito, Massimiliano

    2017-05-01

    The widely debated feasibility of thermodynamic machines achieving Carnot efficiency at finite power has been convincingly dismissed. Yet, the common wisdom that efficiency can only be optimal in the limit of infinitely slow processes overlooks the dual scenario of infinitely fast processes. We corroborate that efficient engines at divergent power output are not theoretically impossible, framing our claims within the theory of Stochastic Thermodynamics. We inspect the case of an electronic quantum dot coupled to three particle reservoirs to illustrate the physical rationale.

  9. Galois connection for multiple-output operations

    Czech Academy of Sciences Publication Activity Database

    Jeřábek, Emil

    2018-01-01

    Roč. 79, č. 2 (2018), č. článku 17. ISSN 0002-5240 EU Projects: European Commission(XE) 339691 - FEALORA Institutional support: RVO:67985840 Keywords : clones and coclones * Galois connection * multiple-output operations Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics Impact factor: 0.625, year: 2016 https://link.springer.com/article/10.1007%2Fs00012-018-0499-7

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

    Science.gov (United States)

    Kumar, Ashutosh; Zhang, Kam Y J

    2016-06-27

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

  11. Burst firing enhances neural output correlation

    Directory of Open Access Journals (Sweden)

    Ho Ka eChan

    2016-05-01

    Full Text Available Neurons communicate and transmit information predominantly through spikes. Given that experimentally observed neural spike trains in a variety of brain areas can be highly correlated, it is important to investigate how neurons process correlated inputs. Most previous work in this area studied the problem of correlation transfer analytically by making significant simplifications on neural dynamics. Temporal correlation between inputs that arises from synaptic filtering, for instance, is often ignored when assuming that an input spike can at most generate one output spike. Through numerical simulations of a pair of leaky integrate-and-fire (LIF neurons receiving correlated inputs, we demonstrate that neurons in the presence of synaptic filtering by slow synapses exhibit strong output correlations. We then show that burst firing plays a central role in enhancing output correlations, which can explain the above-mentioned observation because synaptic filtering induces bursting. The observed changes of correlations are mostly on a long time scale. Our results suggest that other features affecting the prevalence of neural burst firing in biological neurons, e.g., adaptive spiking mechanisms, may play an important role in modulating the overall level of correlations in neural networks.

  12. Multi-model MPC with output feedback

    Directory of Open Access Journals (Sweden)

    J. M. Perez

    2014-03-01

    Full Text Available In this work, a new formulation is presented for the model predictive control (MPC of a process system that is represented by a finite set of models, each one corresponding to a different operating point. The general case is considered of systems with stable and integrating outputs in closed-loop with output feedback. For this purpose, the controller is based on a non-minimal order model where the state is built with the measured outputs and the manipulated inputs of the control system. Therefore, the state can be considered as perfectly known and, consequently, there is no need to include a state observer in the control loop. This property of the proposed modeling approach is convenient to extend previous stability results of the closed loop system with robust MPC controllers based on state feedback. The controller proposed here is based on the solution of two optimization problems that are solved sequentially at the same time step. The method is illustrated with a simulated example of the process industry. The rigorous simulation of the control of an adiabatic flash of a multi-component hydrocarbon mixture illustrates the application of the robust controller. The dynamic simulation of this process is performed using EMSO - Environment Model Simulation and Optimization. Finally, a comparison with a linear MPC using a single model is presented.

  13. Solar Power Station Output Inverter Control Design

    Directory of Open Access Journals (Sweden)

    J. Bauer

    2011-04-01

    Full Text Available The photovoltaic applications spreads in these days fast, therefore they also undergo great development. Because the amount of the energy obtained from the panel depends on the surrounding conditions, as intensity of the sun exposure or the temperature of the solar array, the converter must be connected to the panel output. The Solar system equipped with inverter can supply small loads like notebooks, mobile chargers etc. in the places where the supplying network is not present. Or the system can be used as a generator and it shall deliver energy to the supply network. Each type of the application has different requirements on the converter and its control algorithm. But for all of them the one thing is common – the maximal efficiency. The paper focuses on design and simulation of the low power inverter that acts as output part of the whole converter. In the paper the design of the control algorithm of the inverter for both types of inverter application – for islanding mode and for operation on the supply grid – is discussed. Attention is also paid to the design of the output filter that should reduce negative side effects of the converter on the supply network.

  14. Consenso brasileiro de monitorização e suporte hemodinâmico - parte III: métodos alternativos de monitorização do débito cardíaco e da volemia Brazilian consensus of monitoring and hemodynamic support - part III: alternative methods for cardiac output monitoring and volemia estimation

    Directory of Open Access Journals (Sweden)

    Guilherme Schettino

    2006-03-01

    Full Text Available JUSTIFICATIVA E OBJETIVOS: A interpretação do débito cardíaco e da pré-carga como números absolutos não traz grandes informações sobre a hemodinâmica do paciente crítico. Em contrapartida, a monitorização da resposta do débito cardíaco à expansão volêmica ou suporte inotrópico é uma ferramenta muito útil na unidade de terapia intensiva, quando o paciente apresenta algum sinal de má perfusão tecidual. Apesar do CAP ser considerado como " padrão-ouro" na avaliação destes parâmetros, foram desenvolvidas tecnologias alternativas bastante confiáveis para a sua monitorização. MÉTODO: O processo de desenvolvimento de recomendações utilizou o método Delphi modificado para criar e quantificar o consenso entre os participantes. A AMIB determinou um coordenador para o consenso, o qual escolheu seis especialistas para comporem o comitê consultivo. Outros 18 peritos de diferentes regiões do país foram selecionados para completar o painel de 25 especialistas, médicos e enfermeiros. Um levantamento bibliográfico na MEDLINE de artigos na língua inglesa foi realizado no período de 1966 a 2004. RESULTADOS: Foram apresentadas recomendações referentes à análise da variação da pressão arterial durante ventilação mecânica, débito cardíaco contínuo por contorno de pulso arterial, débito cardíaco por diluição do lítio, Doppler transesofágico, bioimpedância transtorácica, ecocardiografia e reinalação parcial de gás carbônico. CONCLUSÕES: As novas e menos invasivas técnicas para medida do débito cardíaco, pré-carga e fluidoresponsividade apresentam adequada precisão e podem ser uma alternativa ao uso do CAP em pacientes graves.BACKGROUND AND OBJECTIVES: Cardiac output and preload as absolute data do not offer helpful information about the hemodynamic of critically ill patients. However, monitoring the response of these variables to volume challenge or inotropic drugs is a very useful tool in the

  15. Exploring the relationship between agricultural electricity consumption and output: New evidence from Turkish regional data

    International Nuclear Information System (INIS)

    Dogan, Eyup; Sebri, Maamar; Turkekul, Berna

    2016-01-01

    This study investigates the relationship between agricultural electricity consumption and agricultural output for a panel of 12 regions of Turkey for the period 1995–2013. In order to reveal the possible heterogeneity between regions, empirical analyses are conducted for the whole panel data and two sub-groups within the panel data; namely, coastal regions and non-coastal regions. The results from several panel unit root tests indicate that electricity consumption and output are stationary process at their levels for overall panel and the two specific groups. By using the OLS with regional fixed effects, this study finds that coefficient estimate of electricity consumption on output is statistically significant and positive for overall regions, coastal regions and non-coastal regions. In addition, the results from the Dumitrescu-Hurlin Granger causality test show that there is unidirectional causality running from agricultural output to electricity consumption for non-coastal regions, and there is bidirectional causality between agricultural electricity consumption and output for overall panel and coastal regions. Findings and policy implications are further discussed. - Highlights: •This study uses the recently developed Dumitrescu-Hurlin Granger causality test. •There is unidirectional causality running from agricultural output to electricity consumption for non-coastal regions. •Bidirectional causality runs between the analyzed variables for coastal regions. •Electricity consumption increases agricultural output.

  16. A general theory for ball lightning structure and light output

    Science.gov (United States)

    Morrow, R.

    2018-03-01

    A general theory for free-floating ball lightning is presented which unifies the phantom plasma ball theory involving the production of very little light, with theories for ball lightning involving light output produced by burning particles from the soil. The mechanism for the formation of plasma balls is shown to be quite general, producing very similar plasma balls independent of initial ion densities over four orders of magnitude. All that is required is an excess of positive ions in the initial ball of ions. The central plasma density after 1 s is shown to be the reciprocal of the ion neutralization coefficient for all cases, both analytically and computationally. Further, the plasma region has zero electric field in all cases. Surrounding the plasma ball is a sphere of positive ions moving away from the centre via their own space-charge field; this space-charge field, which is the same in all cases near the plasma ball, drives negative ions and negative particles towards the plasma centre. The connection with burning particle theories is the proposition that the burning particles are highly-charged which is very likely after a lightning strike. Burning negatively charged particles would be driven into the plasma ball region and trapped while any positively charged particles would be driven away. The plasma ball structure is shown to last more than 10 s and the ‘burnout time’ for a typical coal particle (as an example) has been measured at 5-10 s this is comparable with the lifetimes observed for ball lightning. The light output from a few hundred particles is estimated to be ~1 W, a typical output for ball lightning. Finally, suggestions are made for the generation of ball lightning in the laboratory.

  17. Influence of Special Weather on Output of PV System

    Science.gov (United States)

    Zhang, Zele

    2018-01-01

    The output of PV system is affected by different environmental factors, therefore, it is important to study the output of PV system under different environmental conditions. Through collecting data on the spot, collecting the output of photovoltaic panels under special weather conditions, and comparing the collected data, the output characteristics of the photovoltaic panels under different weather conditions are obtained. The influence of weather factors such as temperature, humidity and irradiance on the output of photovoltaic panels was investigated.

  18. Input and output constraints affecting irrigation development

    Science.gov (United States)

    Schramm, G.

    1981-05-01

    In many of the developing countries the expansion of irrigated agriculture is used as a major development tool for bringing about increases in agricultural output, rural economic growth and income distribution. Apart from constraints imposed by water availability, the major limitations considered to any acceleration of such programs are usually thought to be those of costs and financial resources. However, as is shown on the basis of empirical data drawn from Mexico, in reality the feasibility and effectiveness of such development programs is even more constrained by the lack of specialized physical and human factors on the input and market limitations on the output side. On the input side, the limited availability of complementary factors such as, for example, truly functioning credit systems for small-scale farmers or effective agricultural extension services impose long-term constraints on development. On the output side the limited availability, high risk, and relatively slow growth of markets for high-value crops sharply reduce the usually hoped-for and projected profitable crop mix that would warrant the frequently high costs of irrigation investments. Three conclusions are drawn: (1) Factors in limited supply have to be shadow-priced to reflect their high opportunity costs in alternative uses. (2) Re-allocation of financial resources from immediate construction of projects to longer-term increase in the supply of scarce, highly-trained manpower resources are necessary in order to optimize development over time. (3) Inclusion of high-value, high-income producing crops in the benefit-cost analysis of new projects is inappropriate if these crops could potentially be grown in already existing projects.

  19. Investigation on the integral output power model of a large-scale wind farm

    Institute of Scientific and Technical Information of China (English)

    BAO Nengsheng; MA Xiuqian; NI Weidou

    2007-01-01

    The integral output power model of a large-scale wind farm is needed when estimating the wind farm's output over a period of time in the future.The actual wind speed power model and calculation method of a wind farm made up of many wind turbine units are discussed.After analyzing the incoming wind flow characteristics and their energy distributions,and after considering the multi-effects among the wind turbine units and certain assumptions,the incoming wind flow model of multi-units is built.The calculation algorithms and steps of the integral output power model of a large-scale wind farm are provided.Finally,an actual power output of the wind farm is calculated and analyzed by using the practical measurement wind speed data.The characteristics of a large-scale wind farm are also discussed.

  20. Data Envelopment Analysis with Fixed Inputs, Undesirable Outputs and Negative Data

    Directory of Open Access Journals (Sweden)

    F. Seyed Esmaeili

    2017-03-01

    Full Text Available In Data Envelopment Analysis (DEA, different models have been measured to evaluate the performance of decision making units with multiple inputs and outputs. Revised model of Slack-based measures known as MBSM of collective models family has been introduced by Sharp et al. Slack-based measure has been introduced by Ton. In this study, a model is proposed that is able to estimate the efficiency when a number of outputs of decision making units are undesirable, inputs are fixed and some of outputs and inputs are negative. So that, level of undesirable output is reduced at the constant level of inputs in the evaluation unit and by conserving the efficiency.

  1. Control and automatic alignment of the output mode cleaner of GEO 600

    Energy Technology Data Exchange (ETDEWEB)

    Prijatelj, M; Grote, H; Degallaix, J; Hewitson, M; Affeldt, C; Leong, J; Lueck, H; Strain, K A; Wittel, H; Willke, B; Danzmann, K [Max-Planck-Institut fuer Gravitationsphysik (Albert-Einstein-Institut) and Leibniz Universitaet Hannover, Callinstr. 38, 30167 Hannover (Germany); Hild, S; Freise, A, E-mail: mirko.prijatelj@aei.mpg.d [School of Physics and Astronomy, University of Birmingham, Edgbaston, Birmingham, B15 2TT (United Kingdom)

    2010-05-01

    The implementation of a mode cleaner at the output port of the GEO 600 gravitational wave detector will be part of the upcoming transition from GEO 600 to GEO-HF. Part of the transition will be the move from a heterodyne readout to a DC readout scheme. DC readout performance will be limited by higher order optical modes and control sidebands present at the output port. For optimum performance of DC readout an output mode cleaner (OMC) will clean the output beam of these contributions. Inclusion of an OMC will introduce new noise sources whose magnitudes needed to be estimated and for which new control systems will be needed. In this article we set requirements on the performance of these control systems and investigate the simulated performance of different designs.

  2. On directional multiple-output quantile regression

    Czech Academy of Sciences Publication Activity Database

    Paindaveine, D.; Šiman, Miroslav

    2011-01-01

    Roč. 102, č. 2 (2011), s. 193-212 ISSN 0047-259X R&D Projects: GA MŠk(CZ) 1M06047 Grant - others:Commision EC(BE) Fonds National de la Recherche Scientifique Institutional research plan: CEZ:AV0Z10750506 Keywords : multivariate quantile * quantile regression * multiple-output regression * halfspace depth * portfolio optimization * value-at risk Subject RIV: BA - General Mathematics Impact factor: 0.879, year: 2011 http://library.utia.cas.cz/separaty/2011/SI/siman-0364128.pdf

  3. Uncertainties in predicting solar panel power output

    Science.gov (United States)

    Anspaugh, B.

    1974-01-01

    The problem of calculating solar panel power output at launch and during a space mission is considered. The major sources of uncertainty and error in predicting the post launch electrical performance of the panel are considered. A general discussion of error analysis is given. Examples of uncertainty calculations are included. A general method of calculating the effect on the panel of various degrading environments is presented, with references supplied for specific methods. A technique for sizing a solar panel for a required mission power profile is developed.

  4. Output-Sensitive Pattern Extraction in Sequences

    DEFF Research Database (Denmark)

    Grossi, Roberto; Menconi, Giulia; Pisanti, Nadia

    2014-01-01

    Genomic Analysis, Plagiarism Detection, Data Mining, Intrusion Detection, Spam Fighting and Time Series Analysis are just some examples of applications where extraction of recurring patterns in sequences of objects is one of the main computational challenges. Several notions of patterns exist...... or extend them causes a loss of significant information (where the number of occurrences changes). Output-sensitive algorithms have been proposed to enumerate and list these patterns, taking polynomial time O(nc) per pattern for constant c > 1, which is impractical for massive sequences of very large length...

  5. Utilization of INIS output in Czechoslovakia

    International Nuclear Information System (INIS)

    Stanik, Z.; Blazek, J.

    1978-01-01

    Information on INIS output materials - INIS magnetic tape, INIS Atomindex, full texts of non-conventional literature on microfiches. Complex is provided of INIS-SDI service by the Nuclear Information Centre for CSSR. The Unified Software System (USS) of the UVTEI-UTZ (the Central Technical Base of the Central Office for Scientific, Technical and Economic Information) is used for the automated processing of INIS magnetic tapes. A survey of INIS-SDI services in the years 1974 to 1978 is given. The further development of the system consists in the use of the terminal network, with direct access to the IAEA computer in Vienna. (author)

  6. Hall Sensor Output Signal Fault-Detection & Safety Implementation Logic

    Directory of Open Access Journals (Sweden)

    Lee SangHun

    2016-01-01

    Full Text Available Recently BLDC motors have been popular in various industrial applications and electric mobility. Recently BLDC motors have been popular in various industrial applications and electric mobility. In most brushless direct current (BLDC motor drives, there are three hall sensors as a position reference. Low resolution hall effect sensor is popularly used to estimate the rotor position because of its good comprehensive performance such as low cost, high reliability and sufficient precision. Various possible faults may happen in a hall effect sensor. This paper presents a fault-tolerant operation method that allows the control of a BLDC motor with one faulty hall sensor and presents the hall sensor output fault-tolerant control strategy. The situations considered are when the output from a hall sensor stays continuously at low or high levels, or a short-time pulse appears on a hall sensor signal. For fault detection, identification of a faulty signal and generating a substitute signal, this method only needs the information from the hall sensors. There are a few research work on hall effect sensor failure of BLDC motor. The conventional fault diagnosis methods are signal analysis, model based analysis and knowledge based analysis. The proposed method is signal based analysis using a compensation signal for reconfiguration and therefore fault diagnosis can be fast. The proposed method is validated to execute the simulation using PSIM.

  7. 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.

  8. Risks posed by large seismic events in the gold mining districts of South Africa

    CSIR Research Space (South Africa)

    Durrheim, RJ

    2011-01-01

    Full Text Available buildings are considered vulnerable to damage by large seismic events, posing safety and financial risks. It is recommended that an earthquake engineer inspect the building stock and review the content and enforcement of building codes. Appropriate training...

  9. 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.

  10. World crude output overcomes Persian Gulf disruption

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Several OPEC producers made good on their promises to replace 2.7 MMbpd of oil exports that vanished from the world market after Iraq took over Kuwait. Even more incredibly, they accomplished this while a breathtaking 1.2- MMbopd reduction in Soviet output took place during the course of 1991. After Abu Dhabi, Indonesia, Iran, Libya, Nigeria, Saudi Arabia and Venezuela turned the taps wide open, their combined output rose 2.95 MMbopd. Put together with a 282,000-bopd increase by Norway and contributions from smaller producers, this enabled world oil production to remain within 400,000 bopd of its 1990 level. The 60.5-MMbopd average was off by just 0.7%. This paper reports that improvement took place in five of eight regions. Largest increases were in Western Europe and Africa. Greatest reductions occurred in Eastern Europe and the Middle East. Fifteen nations produced 1 MMbopd or more last year, compared with 17 during 1990

  11. Saturated output tabletop x-ray lasers

    International Nuclear Information System (INIS)

    Dunn, J.; Osterheld, A.L.; Nilsen, J.; Hunter, J.R.; Li, Y.; Faenov, A.Ya.; Pikuz, T.A.; Shlyaptsev, N.

    2000-01-01

    The high efficiency method of transient collisional excitation has been successfully demonstrated for Ne-like and Ni-like ion x-ray laser schemes with small 5-10 J laser facilities. Our recent studies using the tabletop COMET (Compact Multipulse Terawatt) laser system at the Lawrence Livermore National Laboratory (LLNL) have produced several x-ray lasers operating in the saturation regime. Output energy of 10-15 (micro)J corresponding to a gL product of 18 has been achieved on the Ni-like Pd 4d → 4p transition at 147 (angstrom) with a total energy of 5-7 J in a 600 ps pulse followed by a 1.2 ps pulse. Analysis of the laser beam angular profile indicates that refraction plays an important role in the amplification and propagation process in the plasma column. We report further improvement in the extraction efficiency by varying a number of laser driver parameters. In particular, the duration of the second short pulse producing the inversion has an observed effect on the x-ray laser output

  12. Guaranteeing high output of a mine

    Energy Technology Data Exchange (ETDEWEB)

    Shetser, M G

    1983-05-01

    Operation of the Im. Kalinina coal mine in the Central Donbass is evluated. Seventeen coal seams, on the average 0.87 m thick, are prone to methane and coal dust explosions and to rock bursts. Some of the seams are also prone to spontaneous combustion. Rock layers in the roofs are prone to rock falls. Mining depth ranges from 740 to 850 m. Another working level is being constructed at a depth of 960 m. The steep coal seams are mined by means of the ANShch shield systems and the KGU system (with the 'Poisk' cutter loader). Strata control methods used in the mine are evaluated. Design of timber cribbings used for strata control in inclined workings is shown in a scheme. Construction of coal chutes and strata control in coal chutes are also described. Operation of KGU-1 powered supports which have been used in the mine for 10 years is evaluated. Improved strata control permitted daily coal output from a working face to be increased from 135 t in 1979 to 169 t in 1982. Yearly coal output increased from 605,000 t to 760,000 t. Labor productivity increased from 21.1 t/month to 25.9 t/month per miner. (In Russian)

  13. Saturated output tabletop X-ray lasers

    Energy Technology Data Exchange (ETDEWEB)

    Dunn, J.; Osterheld, A.L.; Nilsen, J.; Hunter, J.R. [Lawrence Livermore National Lab., CA (United States); Yuelin Li [Lawrence Livermore National Lab., CA (United States); ILSA, Lawrence Livermore National Lab., Livermore, CA (United States); Faenov, A.Ya.; Pikuz, T.A. [Lawrence Livermore National Lab., CA (United States); MISDC of VNIIFTRI, Mendeleevo (Russian Federation); Shlyaptsev, V.N. [Lawrence Livermore National Lab., CA (United States); DAS, Univ. of California Davis-Livermore, Livermore, CA (United States)

    2001-07-01

    The high efficiency method of transient collisional excitation has been successfully demonstrated for Ne-like and Ni-like ion X-ray laser schemes with small 5-10 J laser facilities. Our recent studies using the tabletop COMET (compact multipulse terawatt) laser system at the Lawrence livermore national laboratory (LLNL) have produced several X-ray lasers operating in the saturation regime. Output energy of 10-15 {mu}J corresponding to a gL product of 18 has been achieved on the Ni-like Pd 4d{yields}4p transition at 147 A with a total energy of 5-7 J in a 600 ps pulse followed by a 1.2 ps pulse. Analysis of the laser beam angular profile indicates that refraction plays an important role in the amplification and propagation process in the plasma column. We report further improvement in the extraction efficiency by varying a number of laser driver parameters. In particular, the duration of the second short pulse producing the inversion has an observed effect on the X-ray laser output. (orig.)

  14. 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).

  15. Output Feedback Stabilization with Nonlinear Predictive Control: Asymptotic properties

    Directory of Open Access Journals (Sweden)

    Lars Imsland

    2003-07-01

    Full Text Available State space based nonlinear model predictive control (NM PC needs the state for the prediction of the system behaviour. Unfortunately, for most applications, not all states are directly measurable. To recover the unmeasured states, typically a stable state observer is used. However, this implies that the stability of the closed-loop should be examined carefully, since no general nonlinear separation principle exists. Recently semi-global practical stability results for output feedback NMPC using a high-gain observer for state estimation have been established. One drawback of this result is that (in general the observer gain must be increased, if the desired set the state should converge to is made smaller. We show that under slightly stronger assumptions, not only practical stability, but also convergence of the system states and observer error to the origin for a sufficiently large but bounded observer gain can be achieved.

  16. 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

  17. The Economic Impact of Terrorism in the Near East: Understanding the Threats Posed by Militant Groups

    Science.gov (United States)

    2015-05-21

    terrorist attacks of September 11th, 2001 researchers have sought to better understand the macroeconomic consequences of terrorism. Despite a...The Economic Impact of Terrorism in the Near East: Understanding the Threats Posed by Militant Groups A Monograph by MAJ Joshua Glonek...SUBTITLE The Economic Impact of Terrorism in the Near East: Understanding the Threats Posed by Militant Groups 5a. CONTRACT NUMBER 5b. GRANT

  18. Multi-decadal Variability of the Wind Power Output

    Science.gov (United States)

    Kirchner Bossi, Nicolas; García-Herrera, Ricardo; Prieto, Luis; Trigo, Ricardo M.

    2014-05-01

    parameters of the Weibull PDF. This allowed us to derive a linear model to estimate the annual power output from those parameters, which results especially useful when no wind power data is available.

  19. Effect of material constants on power output in piezoelectric vibration-based generators.

    Science.gov (United States)

    Takeda, Hiroaki; Mihara, Kensuke; Yoshimura, Tomohiro; Hoshina, Takuya; Tsurumi, Takaaki

    2011-09-01

    A possible power output estimation based on material constants in piezoelectric vibration-based generators is proposed. A modified equivalent circuit model of the generator was built and was validated by the measurement results in the generator fabricated using potassium sodium niobate-based and lead zirconate titanate (PZT) ceramics. Subsequently, generators with the same structure using other PZT-based and bismuth-layered structure ferroelectrics ceramics were fabricated and tested. The power outputs of these generators were expressed as a linear functions of the term composed of electromechanical coupling coefficients k(sys)(2) and mechanical quality factors Q*(m) of the generator. The relationship between device constants (k(sys)(2) and Q*(m)) and material constants (k(31)(2) and Q(m)) was clarified. Estimation of the power output using material constants is demonstrated and the appropriate piezoelectric material for the generator is suggested.

  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 (p<.02) and of skill level for the vastus medialis; p=.027). A significant skill level × pose interaction existed for five muscles (pectoralis major sternal head, 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.

  1. Compressive power spectrum sensing for vibration-based output-only system identification of structural systems in the presence of noise

    Science.gov (United States)

    Tau Siesakul, Bamrung; Gkoktsi, Kyriaki; Giaralis, Agathoklis

    2015-05-01

    Motivated by the need to reduce monetary and energy consumption costs of wireless sensor networks in undertaking output-only/operational modal analysis of engineering structures, this paper considers a multi-coset analog-toinformation converter for structural system identification from acceleration response signals of white noise excited linear damped structures sampled at sub-Nyquist rates. The underlying natural frequencies, peak gains in the frequency domain, and critical damping ratios of the vibrating structures are estimated directly from the sub-Nyquist measurements and, therefore, the computationally demanding signal reconstruction step is by-passed. This is accomplished by first employing a power spectrum blind sampling (PSBS) technique for multi-band wide sense stationary stochastic processes in conjunction with deterministic non-uniform multi-coset sampling patterns derived from solving a weighted least square optimization problem. Next, modal properties are derived by the standard frequency domain peak picking algorithm. Special attention is focused on assessing the potential of the adopted PSBS technique, which poses no sparsity requirements to the sensed signals, to derive accurate estimates of modal structural system properties from noisy sub- Nyquist measurements. To this aim, sub-Nyquist sampled acceleration response signals corrupted by various levels of additive white noise pertaining to a benchmark space truss structure with closely spaced natural frequencies are obtained within an efficient Monte Carlo simulation-based framework. Accurate estimates of natural frequencies and reasonable estimates of local peak spectral ordinates and critical damping ratios are derived from measurements sampled at about 70% below the Nyquist rate and for SNR as low as 0db demonstrating that the adopted approach enjoys noise immunity.

  2. Dense Output for Strong Stability Preserving Runge–Kutta Methods

    KAUST Repository

    Ketcheson, David I.

    2016-12-10

    We investigate dense output formulae (also known as continuous extensions) for strong stability preserving (SSP) Runge–Kutta methods. We require that the dense output formula also possess the SSP property, ideally under the same step-size restriction as the method itself. A general recipe for first-order SSP dense output formulae for SSP methods is given, and second-order dense output formulae for several optimal SSP methods are developed. It is shown that SSP dense output formulae of order three and higher do not exist, and that in any method possessing a second-order SSP dense output, the coefficient matrix A has a zero row.

  3. The Value of Risk : Measuring the Service Output of U.S. Commercial Banks

    NARCIS (Netherlands)

    Basu, Susanto; Inklaar, Robert; Wang, J. Christina

    2008-01-01

    Rather than charging direct fees, banks often charge implicitly for their services via interest spreads. As a result, much of bank output has to be estimated indirectly. In contrast to current statistical practice, dynamic optimizing models of banks argue that compensation for bearing systematic

  4. The value of risk : measuring the service output of U.S. commercial banks

    NARCIS (Netherlands)

    Basu, Susanto; Inklaar, Robert; Wang, J. Christina

    Banks often charge implicitly for their services via interest spreads, instead of explicit fees. Much of bank output thus has to be estimated indirectly. In contrast to current statistical practice, dynamic optimizing models of banks argue that compensation for bearing systematic risk is not part of

  5. Improvement of Frequency Domain Output Only Modal Identification from the Application of the Random Decrement Technique

    DEFF Research Database (Denmark)

    Rodrigues, J.; Brincker, Rune; Andersen, P.

    2004-01-01

    This paper explores the idea of estimating the spectral densities as the Fourier transform of the random decrement functions for the application of frequency domain output-only modal identification methods. The gains in relation to the usual procedure of computing the spectral densities directly...

  6. Deflation of input-output tables from the user's point of view : a heuristic approach

    NARCIS (Netherlands)

    Dietzenbacher, Erik; Hoen, A.R.

    This paper considers the problem of deflating an input-output table from the viewpoint of the user. In many practical cases certain margins of this table are readily available in constant prices, whereas the entire table is not. This reduces the problem to estimating the matrix of sectoral

  7. Delay signatures in the chaotic intensity output of a quantum dot ...

    Indian Academy of Sciences (India)

    journal of. May 2016 physics pp. 1021–1030. Delay signatures in the chaotic intensity output ... Research in complex systems require quantitative predictions of their dynamics, even ... used methods for estimating delay in complex dynamics are autocorrelation function ..... Authors thank BRNS for its financial support.

  8. Compairing Picture Exchange and Voice Output Communication Aids in Young Children with Autism

    Science.gov (United States)

    Lorah, Elizabeth R.

    2012-01-01

    The Center for Disease Control estimates that one in 88 births result in a diagnosis of autism (CDC, 2012). Of those individuals diagnosed with autism approximately 25-61% fail to develop vocal output capabilities (Weitxz, Dexter, & Moore, 1997). The use of Augmentative and Alternative Communication (AAC) systems, such as Picture Exchange (PE)…

  9. 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

  10. Output power fluctuations due to different weights of macro particles used in particle-in-cell simulations of Cerenkov devices

    International Nuclear Information System (INIS)

    Bao, Rong; Li, Yongdong; Liu, Chunliang; Wang, Hongguang

    2016-01-01

    The output power fluctuations caused by weights of macro particles used in particle-in-cell (PIC) simulations of a backward wave oscillator and a travelling wave tube are statistically analyzed. It is found that the velocities of electrons passed a specific slow-wave structure form a specific electron velocity distribution. The electron velocity distribution obtained in PIC simulation with a relative small weight of macro particles is considered as an initial distribution. By analyzing this initial distribution with a statistical method, the estimations of the output power fluctuations caused by different weights of macro particles are obtained. The statistical method is verified by comparing the estimations with the simulation results. The fluctuations become stronger with increasing weight of macro particles, which can also be determined reversely from estimations of the output power fluctuations. With the weights of macro particles optimized by the statistical method, the output power fluctuations in PIC simulations are relatively small and acceptable.

  11. FEL system with homogeneous average output

    Energy Technology Data Exchange (ETDEWEB)

    Douglas, David R.; Legg, Robert; Whitney, R. Roy; Neil, George; Powers, Thomas Joseph

    2018-01-16

    A method of varying the output of a free electron laser (FEL) on very short time scales to produce a slightly broader, but smooth, time-averaged wavelength spectrum. The method includes injecting into an accelerator a sequence of bunch trains at phase offsets from crest. Accelerating the particles to full energy to result in distinct and independently controlled, by the choice of phase offset, phase-energy correlations or chirps on each bunch train. The earlier trains will be more strongly chirped, the later trains less chirped. For an energy recovered linac (ERL), the beam may be recirculated using a transport system with linear and nonlinear momentum compactions M.sub.56, which are selected to compress all three bunch trains at the FEL with higher order terms managed.

  12. Proportional chamber with data analog output

    International Nuclear Information System (INIS)

    Popov, V.E.; Prokof'ev, A.N.

    1977-01-01

    A proportional multiwier chamber is described. The chamber makes it possible to determine angles at wich a pion strikes a polarized target. A delay line, made of 60-core flat cable is used for removing signals from the chamber. From the delay line, signals are amplified and successively injected into shapers and a time-to-amplitude converter. An amplitude of the time-to amplitude converter output signal unambiguously determines the coordinate of a point at which a particle strikes the chamber plane. There are also given circuits of amplifiers, which consist of a preamplifier with gain 30 and a main amplifier with adjustable gain. Data on testing the chamber with the 450 MeV pion beam is demonstrated. The chamber features an efficiency of about 98 per cent under load of 2x10 5 s -1

  13. Optimizing microwave photodetection: input-output theory

    Science.gov (United States)

    Schöndorf, M.; Govia, L. C. G.; Vavilov, M. G.; McDermott, R.; Wilhelm, F. K.

    2018-04-01

    High fidelity microwave photon counting is an important tool for various areas from background radiation analysis in astronomy to the implementation of circuit quantum electrodynamic architectures for the realization of a scalable quantum information processor. In this work we describe a microwave photon counter coupled to a semi-infinite transmission line. We employ input-output theory to examine a continuously driven transmission line as well as traveling photon wave packets. Using analytic and numerical methods, we calculate the conditions on the system parameters necessary to optimize measurement and achieve high detection efficiency. With this we can derive a general matching condition depending on the different system rates, under which the measurement process is optimal.

  14. Improvement of Output Power of ECF Micromotor

    Science.gov (United States)

    Yokota, Shinichi; Kawamura, Kiyomi; Takemura, Kenjiro; Edamura, Kazuya

    Electro-conjugate fluid (ECF) is a kind of dielectric fluids, which produces jet-flow (ECF jet) when subjected to a high DC voltage. By using the ECF jet, a new type of micromotor with simple structure and lightweight can be realized. Up to now, we developed a disk-plate type ECF micromotor with inner diameter of 9 mm. In this study, we develope novel ECF micromotors with inner diameter of 5 mm in order to improve the output power density. First, we designed and produced the ECF micromotors with 4-layered and 8-layered disk plate rotors. Then, the performances of the motors are measured. The experimental results confirm the motor developed has a higher performance than the previous ones.

  15. Floating Gate CMOS Dosimeter With Frequency Output

    Science.gov (United States)

    Garcia-Moreno, E.; Isern, E.; Roca, M.; Picos, R.; Font, J.; Cesari, J.; Pineda, A.

    2012-04-01

    This paper presents a gamma radiation dosimeter based on a floating gate sensor. The sensor is coupled with a signal processing circuitry, which furnishes a square wave output signal, the frequency of which depends on the total dose. Like any other floating gate dosimeter, it exhibits zero bias operation and reprogramming capabilities. The dosimeter has been designed in a standard 0.6 m CMOS technology. The whole dosimeter occupies a silicon area of 450 m250 m. The initial sensitivity to a radiation dose is Hz/rad, and to temperature and supply voltage is kHz/°C and 0.067 kHz/mV, respectively. The lowest detectable dose is less than 1 rad.

  16. Application of computer voice input/output

    International Nuclear Information System (INIS)

    Ford, W.; Shirk, D.G.

    1981-01-01

    The advent of microprocessors and other large-scale integration (LSI) circuits is making voice input and output for computers and instruments practical; specialized LSI chips for speech processing are appearing on the market. Voice can be used to input data or to issue instrument commands; this allows the operator to engage in other tasks, move about, and to use standard data entry systems. Voice synthesizers can generate audible, easily understood instructions. Using voice characteristics, a control system can verify speaker identity for security purposes. Two simple voice-controlled systems have been designed at Los Alamos for nuclear safeguards applicaations. Each can easily be expanded as time allows. The first system is for instrument control that accepts voice commands and issues audible operator prompts. The second system is for access control. The speaker's voice is used to verify his identity and to actuate external devices

  17. Advanced Output Coupling for High Power Gyrotrons

    Energy Technology Data Exchange (ETDEWEB)

    Read, Michael [Calabazas Creek Research, Inc., San Mateo, CA (United States); Ives, Robert Lawrence [Calabazas Creek Research, Inc., San Mateo, CA (United States); Marsden, David [Calabazas Creek Research, Inc., San Mateo, CA (United States); Collins, George [Calabazas Creek Research, Inc., San Mateo, CA (United States); Temkin, Richard [Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States); Guss, William [Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States); Lohr, John [General Atomics, La Jolla, CA (United States); Neilson, Jeffrey [Lexam Research, Redwood City, CA (United States); Bui, Thuc [Calabazas Creek Research, Inc., San Mateo, CA (United States)

    2016-11-28

    The Phase II program developed an internal RF coupler that transforms the whispering gallery RF mode produced in gyrotron cavities to an HE11 waveguide mode propagating in corrugated waveguide. This power is extracted from the vacuum using a broadband, chemical vapor deposited (CVD) diamond, Brewster angle window capable of transmitting more than 1.5 MW CW of RF power over a broad range of frequencies. This coupling system eliminates the Mirror Optical Units now required to externally couple Gaussian output power into corrugated waveguide, significantly reducing system cost and increasing efficiency. The program simulated the performance using a broad range of advanced computer codes to optimize the design. Both a direct coupler and Brewster angle window were built and tested at low and high power. Test results confirmed the performance of both devices and demonstrated they are capable of achieving the required performance for scientific, defense, industrial, and medical applications.

  18. Host range and reproductive output of Diachasmimorpha kraussii (Hymenoptera: Braconidae), a parasitoid of tephritid fruit flies newly imported to Hawaii

    International Nuclear Information System (INIS)

    Messing, R.H.; Ramadan, M.M.

    2000-01-01

    Four exotic tephritid fruit fly pests have colonised the Hawaiian islands over the past 100 years, where they have become major pests infesting hundreds of horticultural crops. The Mediterranean fruit fly, Ceratitis capitata (Wiedemann), Oriental fruit fly, Bactrocera dorsalis (Hendel), melon fly, B. cucurbitae (Coquillett), and Solanaceous fruit fly, B. latifrons (Hendel) are considered among the major obstacles to the development of a more robust agricultural economy in the state of Hawaii. Furthermore, the flies pose a continuous threat to agriculture in California and other areas in the southern United States, where it has been estimated that the establishment of the Medfly alone would result in losses of over one billion dollars annually (Andrew et al. 1978). Entomologists in Hawaii have conducted a number of classical biological control programmes against these tephritid pests over the years, resulting in the establishment of several parasitoid species and partial control of the flies in some crops (see reviews in Clausen et al. 1965, Wharton 1989). However, these programmes were conducted before the invasion of the state by the Solanaceous fruit fly; thus, there have been no biocontrol programmes targeted against this pest. Also, several entomologists have pointed out the potential of improved control over the other tephritid species in Hawaii by introducing new natural enemies (Gilstrap and Hart 1987, Messing 1995, Steck et al. 1986, Wharton 1989, Wong and Ramadan 1992). We have therefore renewed efforts to import parasitoids from tropical and sub-tropical areas around the world to attack tephritid fruit flies in Hawaii. As part of this effort, we imported Diachasmimorpha kraussii Fullaway from Queensland, Australia, where it is an endemic parasitoid of Bactrocera tryoni (Froggatt) and several other endemic Australian tephritids. This paper reports the results of initial host range tests and studies on the reproductive output of D. kraussii in quarantine

  19. 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

  20. Generalized Hough transform based time invariant action recognition with 3D pose information

    Science.gov (United States)

    Muench, David; Huebner, Wolfgang; Arens, Michael

    2014-10-01

    Human action recognition has emerged as an important field in the computer vision community due to its large number of applications such as automatic video surveillance, content based video-search and human robot interaction. In order to cope with the challenges that this large variety of applications present, recent research has focused more on developing classifiers able to detect several actions in more natural and unconstrained video sequences. The invariance discrimination tradeoff in action recognition has been addressed by utilizing a Generalized Hough Transform. As a basis for action representation we transform 3D poses into a robust feature space, referred to as pose descriptors. For each action class a one-dimensional temporal voting space is constructed. Votes are generated from associating pose descriptors with their position in time relative to the end of an action sequence. Training data consists of manually segmented action sequences. In the detection phase valid human 3D poses are assumed as input, e.g. originating from 3D sensors or monocular pose reconstruction methods. The human 3D poses are normalized to gain view-independence and transformed into (i) relative limb-angle space to ensure independence of non-adjacent joints or (ii) geometric features. In (i) an action descriptor consists of the relative angles between limbs and their temporal derivatives. In (ii) the action descriptor consists of different geometric features. In order to circumvent the problem of time-warping we propose to use a codebook of prototypical 3D poses which is generated from sample sequences of 3D motion capture data. This idea is in accordance with the concept of equivalence classes in action space. Results of the codebook method are presented using the Kinect sensor and the CMU Motion Capture Database.