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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

作者： Corpuz, Francis James Naval Jr., Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Computer Vision and Machine Intelligence Group Department of Computer Science University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Institutional Laboratory Mgmt Office Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781467308298

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs. © 2012 IEEE.

关键词： Mapping

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Development of the six-legged walking and climbing robot SpaceClimber

Development of the six-legged walking and climbing robot Spa...

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作者： Bartsch, Sebastian Birnschein, Timo Römmermann, Malte Hilljegerdes, Jens Kühn, Daniel Kirchner, Frank German Research Center for Artificial Intelligence Robotics Innovation Center Robert-Hooke-Str. 5 28359 Bremen Germany Department for Mathematics and Computer Science German Research Center for Artificial Intelligence University of Bremen Robert-Hooke-Str. 5 28359 Bremen Germany

In this article, we present SpaceClimber,1 a six-legged, bio-inspired, energy-efficient and adaptable free-climbing robot for mobility on steep gradients. The long-term stool is to provide a system for extraterrestrial surface exploration missions, paying special attention to mobility in lunar craters to retrieve or analyze scientific samples from the interior of these craters. We present an envisaged mission for SpaceClimber and summarize the deriving system requirements. The robot's morphology determination procedure is depicted, considering the predefined demands and utilizing a simulation environment in combination with evolutionary optimization strategies, followed by a detailed description of the system's hardware design. The theoretical concept for the control of such machines with an extensive sensory-motor configuration is explained, as well as the implemented locomotion control approach and attempts to optimize the behavior of the robot using machine learning techniques. In addition, the experimental plant that was built for testing and evaluating the performance of the developed system in an environment as realistic as possible is introduced, followed by a description of the experiments performed. Concluding, we summarize the results and experiences and give an outlook on further developments. © 2012 Wiley Periodicals, Inc.

关键词： Optimization

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An Actuated Phantom for Developing and Studying MRI-Guided Interventions in Dynamic Environments

An Actuated Phantom for Developing and Studying MRI-Guided I...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Nicholas C. von Sternberg Yousef S. Hedayati Habib M. Zaid Erol Yeniaras Eftychios Christoforou Nikolaos V. Tsekos Medical Robotics Lab Department of Computer Science University of Houston University of Texas MD Anderson Cancer Center KIOS Research Center at the University of Cyprus Medical Robotics Laboratory at the Department of Computer Science at the University of Houston

ISBN: (纸本)9781457711992

During early development stages of novel medical technologies the use of cost-effective, reusable and adaptable dynamic models can be an effective precursor to animal studies. This paper describes and demonstrates a novel, MR compatible, actuated phantom which can mimic the global motion of the left ventricular corridor. This prototype has five actuated DoF and is controlled to replicate specific in vivo motion according to pre-collected MR images. Studies conducted demonstrate 21.1% open-loop error in replicating 1.57 mm motions. MR studies in a 1.5T clinical scanner manifested that the system is MR compatible. SNR was measured to be 90.9 ± 15.4 with the motors in motion and 89.4 ± 2.6 with the motors idle. The purpose of this device is to be used as a phantom for the development and validation of image-guided and robot-assisted intracardiac surgeries in the beating heart.

关键词： Imaging Phantom Engines Motor Precocious Development Environments

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Classifying behavior patterns of user nodes

Classifying behavior patterns of user nodes

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International Conference on Cloud Computing and Social Networking 2012: "Cloud Computing and Social Networking for Smart and Productive Society", ICCCSN 2012

作者： Song, Gyuwon Kim, Suhyun Human Computer Interaction and Robotics Department University of Science and Technology 217 Gajungro Yuseong-gu Daejeon Korea Republic of Imaging Media Research Center Korea Institute of Science and Technology Hwarangno 14-gil 5 Seongbuk-gu Seoul Korea Republic of

ISBN: (纸本)9781467318167

To increase the scalability of cloud computing, utilizing resources of individual users has been widely adopted especially in video streaming services. Accurately predicting behavior of user nodes is critical to achieve a high efficiency in such a peer-assisted system. Though there have been many measurement studies on peer-to-peer systems, most of them have focused on the design and characterization of the systems. Thus the behavior patterns of individual nodes have seldom been studied. In this paper, we present new techniques for classifying behavior of nodes in terms of availability and compare them with naive manual classification. We apply a k-means clustering algorithm with various classification criteria on real trace data of a peer-to-peer system. Our analysis shows that there are three dominant time zones with respect to the availability peak time. Our study will give a useful hint to a system designer in handling churns more efficiently based on the peer classification. © 2012 IEEE.

关键词： Scalability

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Direct imaging with printed microlens arrays

Direct imaging with printed microlens arrays

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International Conference on Pattern Recognition

作者： Sami Varjo Jari Hannuksela Olli Silvén The Center for Machine Vision Research Infotech Oulu and Department of Computer Science and Engineering University of Oulu Finland

ISBN: (纸本)9781467322164

We propose a new direct microlens array imaging system without additional refractive optics. A diffuse led light source and a hot embossed micro lens array enable a compact and very low cost structure for portable devices. A light source aperture acts as a field stop for microlenses, and separate micro apertures are not required by individual lenses. The area scalability achieved with polymeric lenslet arrays enables fast screening of large sample areas by removing the need for spatial scanning. A light field rendering method based on mosaicing was developed, and the performance of polymer microlenses is compared to glass microlenses with the suggested system. The utilized polycarbonate lenses enabled 8.8 μm resolution.

关键词： Lenses Microoptics Imaging Image resolution Polymers Apertures Glass

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

作者： Corpuz, Francis James Naval, Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Department of Computer Science College of Engineering University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Special Projects Laboratory Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781457720895

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment. © 2012 IEEE.

关键词： Reefs

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Online Scheduling for Cloud Computing and Different Service Levels

Online Scheduling for Cloud Computing and Different Service ...

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IEEE International Symposium on Parallel and Distributed Processing Workshops and Phd Forum (IPDPSW)

作者： Uwe Schwiegelshohn Andrei Tchernykh Robotics Research Institute Technical University Dortmund Dortmund Germany Computer Science Department CICESE Research Center Ensenada Baja California Mexico

ISBN: (纸本)9781467309745

In this paper, we address scheduling problems for infrastructure as a service (IaaS). In a typical IaaS scenario, an infrastructure provider offers his resources on demand and with different service levels to his customers. These service levels are mainly distinguished by the amount of computing power a customer is guaranteed to receive within a time frame. In our a model, each service level is described by a slack factor and a price for a processing time unit. If the provider accepts a job it is guaranteed to complete by its deadline, that is its submission time plus its processing time times the slack factor of assigned service level. After a job has been submitted, the provider must decide immediately and irrevocably whether he accepts or rejects the job. We suggest various algorithms and use competitive analysis to discuss different scenarios for this model. These scenarios combine fixed services levels with the single machine model or the parallel identical machines model. Particularly, we demonstrate the benefit of parallelism by showing that we can achieve better competitive factor in a parallel machine scenario than in the corresponding single machine scenario.

关键词： Silicon Scheduling Processor scheduling Real time systems Upper bound Computational modeling Schedules

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Multimodal emotion recognition by combining physiological signals and facial expressions: A preliminary study

Multimodal emotion recognition by combining physiological si...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Jukka Kortelainen Suvi Tiinanen Xiaohua Huang Xiaobai Li Seppo Laukka Matti Pietikäinen Tapio Seppänen Department of Computer Science and Engineering University of Oulu Finland Center of Machine Vision Research Department of Computer Science and Engineering University of Oulu Finland LearnLab Department of Educational Sciences and Teacher Education University of Oulu Finland

Lately, multimodal approaches for automatic emotion recognition have gained significant scientific interest. In this paper, emotion recognition by combining physiological signals and facial expressions was studied. Heart rate variability parameters, respiration frequency, and facial expressions were used to classify person's emotions while watching pictures with emotional content. Three classes were used for both valence and arousal. The preliminary results show that, over the proposed channels, detecting arousal seem to be easier compared to valence. While the classification performance of 54.5% was attained with arousal, only 38.0% of the samples were classified correctly in terms of valence. In future, additional modalities as well as feature selection will be utilized to improve the results.

关键词： Physiology Emotion recognition Protocols Heart rate variability Humans Educational institutions Databases

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Articulated Particle Filter for hand tracking

Articulated Particle Filter for hand tracking

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International Conference on Pattern Recognition

作者： German Ros Jesús Martínez del Rincón Ginés García Mateos Computer Vision Center and Computer Science Department UAB Spain Digital Imaging Research Centre Kingston University London UK Department Informática y Sistemas University of Murcia Spain

ISBN: (纸本)9781467322164

This paper proposes a new version of Particle Filter, called Articulated Particle Filter - ArPF -, which has been specifically designed for an efficient sampling of hierarchical spaces, generated by articulated objects. Our approach decomposes the articulated motion into layers for efficiency purposes, making use of a careful modeling of the diffusion noise along with its propagation through the articulations. This produces an increase of accuracy and prevent for divergences. The algorithm is tested on hand tracking due to its complex hierarchical articulated nature. With this purpose, a new dataset generation tool for quantitative evaluation is also presented in this paper.

关键词： Noise Annealing Estimation Particle filters Target tracking Solid modeling

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