Search results for: tracking error

Authors: Zhongzhen Luo, Saeid Habibi, Martin v. Mohrenschildt

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Self-driving vehicle require a high level of situational awareness in order to maneuver safely when driving in real world condition. This paper presents a LiDAR based real time perception system that is able to process sensor raw data for multiple target detection and tracking in dynamic environment. The proposed algorithm is nonparametric and deterministic that is no assumptions and priori knowledge are needed from the input data and no initializations are required. Additionally, the proposed method is working on the three-dimensional data directly generated by LiDAR while not scarifying the rich information contained in the domain of 3D. Moreover, a fast and efficient for real time clustering algorithm is applied based on a radially bounded nearest neighbor (RBNN). Hungarian algorithm procedure and adaptive Kalman filtering are used for data association and tracking algorithm. The proposed algorithm is able to run in real time with average run time of 70ms per frame.

Keywords: lidar, segmentation, clustering, tracking

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Authors: Youngji Lee, Yonghyeon Jeon, Sunyoung Bu, Philsu Kim

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The aim of this paper is to construct an algorithm of time step control for the error correction method most recently developed by one of the authors for solving stiff initial value problems. It is achieved with the generalized Chebyshev polynomial and the corresponding error correction method. The main idea of the proposed scheme is in the usage of the duplicated node points in the generalized Chebyshev polynomials of two different degrees by adding necessary sample points instead of re-sampling all points. At each integration step, the proposed method is comprised of two equations for the solution and the error, respectively. The constructed algorithm controls both the error and the time step size simultaneously and possesses a good performance in the computational cost compared to the original method. Two stiff problems are numerically solved to assess the effectiveness of the proposed scheme.

Keywords: stiff initial value problem, error correction method, generalized Chebyshev polynomial, node points

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Authors: Jeronimo Cox, Tomonari Furukawa

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Magnetometers have become more popular in inertial measurement units (IMU) for their ability to correct estimations using the earth's magnetic field. Accelerometer and gyroscope-based packages fail with dead-reckoning errors accumulated over time. Localization in robotic applications with magnetometer-inclusive IMUs has become popular as a way to track the odometry of slower-speed robots. With high-speed motions, the accumulated error increases over smaller periods of time, making them difficult to track with IMU. Tracking a high-speed motion is especially difficult with limited observability. Visual obstruction of motion leaves motion-tracking cameras unusable. When motions are too dynamic for estimation techniques reliant on the observability of the gravity vector, the use of magnetometers is further justified. As available magnetometer calibration methods are limited with the assumption that background magnetic fields are uniform, estimation in nonuniform magnetic fields is problematic. Hard iron distortion is a distortion of the magnetic field by other objects that produce magnetic fields. This kind of distortion is often observed as the offset from the origin of the center of data points when a magnetometer is rotated. The magnitude of hard iron distortion is dependent on proximity to distortion sources. Soft iron distortion is more related to the scaling of the axes of magnetometer sensors. Hard iron distortion is more of a contributor to the error of attitude estimation with magnetometers. Indoor environments or spaces inside ferrite-based structures, such as building reinforcements or a vehicle, often cause distortions with proximity. As positions correlate to areas of distortion, methods of magnetometer localization include the production of spatial mapping of magnetic field and collection of distortion signatures to better aid location tracking. The goal of this paper is to compare magnetometer methods that don't need pre-productions of magnetic field maps. Mapping the magnetic field in some spaces can be costly and inefficient. Dynamic measurement fusion is used to track the motion of a multi-link system with us. Conventional calibration by data collection of rotation at a static point, real-time estimation of calibration parameters each time step, and using two magnetometers for determining local hard iron distortion are compared to confirm the robustness and accuracy of each technique. With opposite-facing magnetometers, hard iron distortion can be accounted for regardless of position, Rather than assuming that hard iron distortion is constant regardless of positional change. The motion measured is a repeatable planar motion of a two-link system connected by revolute joints. The links are translated on a moving base to impulse rotation of the links. Equipping the joints with absolute encoders and recording the motion with cameras to enable ground truth comparison to each of the magnetometer methods. While the two-magnetometer method accounts for local hard iron distortion, the method fails where the magnetic field direction in space is inconsistent.

Keywords: motion tracking, sensor fusion, magnetometer, state estimation

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Authors: Michael Heuer, Ayoub Al-Hamadi, Alexander Rain, Marc-Michael Meinecke

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Vulnerable road users, e.g. pedestrians, have a high impact on fatal accident numbers. To reduce these statistics, car manufactures are intensively developing suitable safety systems. Hereby, fast and reliable environment recognition is a major challenge. In this paper we describe a tracking approach that is only based on a 24 GHz radar sensor. While common radar signal processing loses much information, we make use of a track-before-detect filter to incorporate raw measurements. It is explained how the Range-Doppler spectrum can help to indicated pedestrians and stabilize tracking even in occultation scenarios compared to sensors in series.

Keywords: radar, pedestrian detection, active safety, sensor

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Authors: Mulugeta K. Tefera, Xiaolong Yang, Jian Liu

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Detection and tracking of moving objects are very important in many application contexts such as detection and recognition of people, visual surveillance and automatic generation of video effect and so on. However, the task of detecting a real shape of an object in motion becomes tricky due to various challenges like dynamic scene changes, presence of shadow, and illumination variations due to light switch. For such systems, once the moving object is detected, tracking is also a crucial step for those applications that used in military defense, video surveillance, human computer interaction, and medical diagnostics as well as in commercial fields such as video games. In this paper, an object presents in dynamic background is detected using adaptive mixture of Gaussian based analysis of the video sequences. Then the detected moving object is tracked using the region based moving object tracking and inter-frame differential mechanisms to address the partial overlapping and occlusion problems. Firstly, the detection algorithm effectively detects and extracts the moving object target by enhancing and post processing morphological operations. Secondly, the extracted object uses region based moving object tracking and inter-frame difference to improve the tracking speed of real-time moving objects in different video frames. Finally, the plotting method was applied to detect the moving objects effectively and describes the object’s motion being tracked. The experiment has been performed on image sequences acquired both indoor and outdoor environments and one stationary and web camera has been used.

Keywords: background modeling, Gaussian mixture model, inter-frame difference, object detection and tracking, video surveillance

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Authors: Rodrigo S. Moreira, Nelson F. F. Ebecken

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This paper proposes a maritime vessel tracker composed of an ensemble of WiSARD weightless neural network classifiers. A failure detector analyzes vessel movement with a Kalman filter and corrects the tracking, if necessary, using FFT matching. The use of the WiSARD neural network to track objects is uncommon. The additional contributions of the present study include a performance comparison with four state-of-art trackers, an experimental study of the features that improve maritime vessel tracking, the first use of an ensemble of classifiers to track maritime vessels and a new quantization algorithm that compares the values of pixel pairs.

Keywords: ram memory, WiSARD weightless neural network, object tracking, quantization

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Authors: Ghania Zidani, Said Drid, Larbi Chrifi-Alaoui, Abdeslam Benmakhlouf, Souad Chaouch

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In this paper, we focus on the study for path tracking control of unicycle-type Wheeled Mobile Robots (WMR), by applying the Backstepping technic. The latter is a relatively new technic for nonlinear systems. To solve the problem of constraints nonholonomics met in the path tracking of such robots, an adaptive Backstepping based nonlinear controller is developed. The stability of the controller is guaranteed, using the Lyapunov theory. Simulation results show that the proposed controller achieves the objective and ensures good path tracking.

Keywords: Backstepping control, kinematic and dynamic controllers, Lyapunov methods, nonlinear control systems, Wheeled Mobile Robot (WMR).

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Authors: Yudhajit Datta, Hamsi Iyer, Jonathan Bandi, Ankit Sethia

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Motion Tracking and Stereo Vision are complicated, albeit well-understood problems in computer vision. Existing softwares that combine the two approaches to perform stereo motion tracking typically employ complicated and computationally expensive procedures. The purpose of this study is to create a simple and effective solution capable of combining the two approaches. The study aims to explore a strategy to combine the two techniques of two-dimensional motion tracking using Kalman Filter; and depth detection of object using Stereo Vision. In conventional approaches objects in the scene of interest are observed using a single camera. However for Stereo Motion Tracking; the scene of interest is observed using video feeds from two calibrated cameras. Using two simultaneous measurements from the two cameras a calculation for the depth of the object from the plane containing the cameras is made. The approach attempts to capture the entire three-dimensional spatial information of each object at the scene and represent it through a software estimator object. In discrete intervals, the estimator tracks object motion in the plane parallel to plane containing cameras and updates the perpendicular distance value of the object from the plane containing the cameras as depth. The ability to efficiently track the motion of objects in three-dimensional space using a simplified approach could prove to be an indispensable tool in a variety of surveillance scenarios. The approach may find application from high security surveillance scenes such as premises of bank vaults, prisons or other detention facilities; to low cost applications in supermarkets and car parking lots.

Keywords: kalman filter, stereo vision, motion tracking, matlab, object tracking, camera calibration, computer vision system toolbox

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Authors: Lee Waters, Itay Basevitch, Matthew Timmis

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Objectives: Eye tracking technology is a valuable method of assessing individuals gaze behaviour, but it does not unveil why they are engaging in certain practices. To address limitations in sport eye tracking research the present paper aims to investigate the gaze behaviours soccer officials engage in during successful and unsuccessful offside decisions, but also why. Methods: 20 male active amateur qualified (Level 4-7) soccer officials (Mage 22.5 SD 4.61 yrs) with an average experience of 41-50 games wore eye tracking technology during an applied attack versus defence drill. While reviewing the eye tracking footage, retrospective semi-structured interviews were conducted (M=20.4 min; SD=6.2; Range 11.7 – 26.8 min) and once transcribed inductive thematic analysis was performed. Findings and Discussion: To improve the understanding of gaze behaviours and how officials make sense of the environment, during the interview’s key constructs of offside, decision making, obstacles and emotions were summarised as the higher order themes while making offside decisions. Gaze anchoring was highlighted to be a successful technique to allow officials to see all relevant information, whereas the type of offside was emphasised to be a key factor in correct interpretation. Furthermore, specific decision-making training was outlined to be inconsistent and not always applicable. Conclusions: Key constructs have been identified and explained, which can be shared with soccer officials through training regimes. Eye tracking technology has also been shown to be a useful and innovative reflective tool to assist in the understanding of individuals gaze behaviours.

Keywords: eye tracking, gaze behvaiour, decision making, reflection

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Authors: Myungsu Lim, William Xiu Shun Wong, Yoonjin Hyun, Chen Liu, Seongi Choi, Dasom Kim, Namgyu Kim

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The amount of real-time data generated through various mass media has been increasing rapidly. In this study, we had performed topic analysis by using the unstructured text data that is distributed through news article. As one of the most prevalent applications of topic analysis, the issue tracking technique investigates the changes of the social issues that identified through topic analysis. Currently, traditional issue tracking is conducted by identifying the main topics of documents that cover an entire period at the same time and analyzing the occurrence of each topic by the period of occurrence. However, this traditional issue tracking approach has limitation that it cannot discover dynamic mutation process of complex social issues. The purpose of this study is to overcome the limitations of the existing issue tracking method. We first derived core issues of each period, and then discover the dynamic mutation process of various issues. In this study, we further analyze the mutation process from the perspective of the issues categories, in order to figure out the pattern of issue flow, including the frequency and reliability of the pattern. In other words, this study allows us to understand the components of the complex issues by tracking the dynamic history of issues. This methodology can facilitate a clearer understanding of complex social phenomena by providing mutation history and related category information of the phenomena.

Keywords: Data Mining, Issue Tracking, Text Mining, topic Analysis, topic Detection, Trend Detection

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Authors: Jijun Shi, Lichen Sun, Jianchao Zhao, Lizhi Sun, Enjun Liu, Chongwu Guo

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Because of the consistency of pressure direction, more short cycle, and high sensitivity, Charging-Vacuum helium mass spectrometer leak testing technology is the most popular leak testing technology for the seal testing of the spacecraft parts, especially the small and medium size ones. Usually, auxiliary pump was used, and the minimum detectable leak rate could reach 5E-9Pa•m3/s, even better on certain occasions. Relative error is more important when evaluating the results. How to choose the reference leak, the background level of helium, and record formats would affect the leak rate tested. In the linearity range of leak testing system, it would reduce 10% relative error if the reference leak with larger leak rate was used, and the relative error would reduce obviously if the background of helium was low efficiently, the record format of decimal was used, and the more stable data were recorded.

Keywords: leak testing, spacecraft parts, relative error, error control

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Authors: McClain Thiel

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Object detection and localization has historically required two or more sensors due to the loss of information from 3D to 2D space, however, most surveillance systems currently in use in the real world only have one sensor per location. Generally, this consists of a single low-resolution camera positioned above the area under observation (mall, jewelry store, traffic camera). This is not sufficient for robust 3D tracking for applications such as security or more recent relevance, contract tracing. This paper proposes a lightweight system for 3D person tracking that requires no additional hardware, based on compressed object detection convolutional-nets, facial landmark detection, and projective geometry. This approach involves classifying the target into a demographic category and then making assumptions about the relative locations of facial landmarks from the demographic information, and from there using simple projective geometry and known constants to find the target's location in 3D space. Preliminary testing, although severely lacking, suggests reasonable success in 3D tracking under ideal conditions.

Keywords: monocular distancing, computer vision, facial analysis, 3D localization

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Authors: Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj

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This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application.

Keywords: cable-driven multi-body system, computed-torque controller, lower limb rehabilitation, tracking trajectory

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Authors: Laura Bishop, Isabel Jones, Linn Halvorsen, Angela Smith

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Phishing emails are a form of social engineering where attackers deceive email users into revealing sensitive information or installing malware such as ransomware. Scammers often use persuasion techniques to influence email users to interact with malicious content. This study will use eye-tracking equipment to analyze how participants respond to and process Cialdini’s persuasion principles when utilized within phishing emails. Eye tracking provides insights into what is happening on the subconscious level of the brain that the participant may not be aware of. An experiment is conducted to track participant eye movements, whilst interacting with and then filing a series of persuasive emails delivered at random. Eye tracking metrics will be analyzed in relation to whether a malicious email has been identified as phishing (filed as ‘suspicious’) or not phishing (filed in any other folder). This will help determine the most influential persuasion techniques and those 'areas of interest' within an email that require intervention. The results will aid further research on how to reduce the effects of persuasion on human decision-making when interacting with phishing emails.

Keywords: cybersecurity, human-centric, phishing, psychology

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Authors: Ce Liu, Wei Huo

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A nonlinear trajectory tracking controller for quadrotor helicopter based on controlled Lagrangian (CL) method is proposed in this paper. A Lagrangian system with virtual angles as generated coordinates rather than Euler angles is developed. Based on the model, the matching conditions presented by nonlinear partial differential equations are simplified and explicitly solved. Smooth tracking control laws and the range of control parameters are deduced based on the controlled energy of closed-loop system. Besides, a constraint condition for reference accelerations is deduced to identify the trackable reference trajectories by the proposed controller and to ensure the stability of the closed-loop system. The proposed method in this paper does not rely on the division of the quadrotor system, and the design of the control torques does not depend on the thrust as in backstepping or hierarchical control method. Simulations for a quadrotor model demonstrate the feasibility and efficiency of the theoretical results.

Keywords: quadrotor, trajectory tracking control, controlled lagrangians, underactuated system

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Authors: Dinesh Inamadar, R. Venugopalan, K. Padmini

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An attempt has been made in the present communication to elucidate the efficacy of robust ANOVA methods to analyze horticultural field experimental data in the presence of outliers. Results obtained fortify the use of robust ANOVA methods as there was substantiate reduction in error mean square, and hence the probability of committing Type I error, as compared to the regular approach.

Keywords: outliers, robust ANOVA, horticulture, cook distance, type I error

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Authors: Chaiwat Tantarangsee

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The purposes of this study are 1) to study the effects of participatory error correction process and 2) to find out the students’ satisfaction of such error correction process. This study is a Quasi Experimental Research with single group, in which data is collected 5 times preceding and following 4 experimental studies of participatory error correction process including providing coded indirect corrective feedback in the students’ texts with error treatment activities. Samples include 28 2nd year English Major students, Faculty of Humanities and Social Sciences, Suan Sunandha Rajabhat University. Tool for experimental study includes the lesson plan of the course; Reading and Writing English for Academic Purposes II, and tools for data collection include 5 writing tests of short texts and a questionnaire. Based on formative evaluation of the students’ writing ability prior to and after each of the 4 experiments, the research findings disclose the students’ higher scores with statistical difference at 0.05. Moreover, in terms of the effect size of such process, it is found that for mean of the students’ scores prior to and after the 4 experiments; d equals 1.0046, 1.1374, 1.297, and 1.0065 respectively. It can be concluded that participatory error correction process enables all of the students to learn equally well and there is improvement in their ability to write short texts. Finally, the students’ overall satisfaction of the participatory error correction process is in high level (Mean=4.32, S.D.=0.92).

Keywords: coded indirect corrective feedback, participatory error correction process, error treatment, humanities and social sciences

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Authors: R. Sabre

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This work focuses on the symmetric alpha stable process with continuous time frequently used in modeling the signal with indefinitely growing variance, often observed with an unknown additive error. The objective of this paper is to estimate this error from discrete observations of the signal. For that, we propose a method based on the smoothing of the observations via Jackson polynomial kernel and taking into account the width of the interval where the spectral density is non-zero. This technique allows avoiding the “Aliasing phenomenon” encountered when the estimation is made from the discrete observations of a process with continuous time. We have studied the convergence rate of the estimator and have shown that the convergence rate improves in the case where the spectral density is zero at the origin. Thus, we set up an estimator of the additive error that can be subtracted for approaching the original signal without error.

Keywords: spectral density, stable processes, aliasing, non parametric

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Authors: Arun Moorthy

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Quantum computing promises to provide algorithmic speedups for a number of tasks; however, similar to classical computing, effective error-correcting codes are needed. Current quantum computers require costly equipment to control each particle, so having fewer particles to control is ideal. Although traditional quantum computers are built using qubits (2-level systems), qudits (more than 2-levels) are appealing since they can have an equivalent computational space using fewer particles, meaning fewer particles need to be controlled. Currently, qudit quantum error-correction codes are available for different level qudit systems; however, these codes have sometimes overly specific constraints. When building a qudit system, it is important for researchers to have access to many codes to satisfy their requirements. This project addresses two methods to increase the number of quantum error correcting codes available to researchers. The first method is generating new codes for a given set of parameters. The second method is generating new error-correction codes by using existing codes as a starting point to generate codes for another level (i.e., a 5-level system code on a 2-level system). So, this project builds a website that researchers can use to generate new error-correction codes or codes based on existing codes.

Keywords: qudit, error correction, quantum, qubit

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Authors: Mobarok Hossain Bhuyain

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Video surveillance processing has attracted various security fields transforming it into one of the leading research fields. Today's demand for detection and tracking of human mobility for security is very useful for human security, such as in crowded areas. Accordingly, video surveillance technology has seen a rapid advancement in recent years, with algorithms analyzing the behavior of people under surveillance automatically. The main motivation of this research focuses on the detection and tracking of the elderly and socially vulnerable people in crowded areas. Degenerate people are a major health concern, especially for elderly people and socially vulnerable people. One major disadvantage of video surveillance is the need for continuous monitoring, especially in crowded areas. To assist the security monitoring live surveillance video, image processing, and artificial intelligence methods can be used to automatically send warning signals to the monitoring officers about elderly people and socially vulnerable people.

Keywords: human detection, target tracking, neural network, particle filter

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Authors: Louella Nicole Gamao

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Writing in English is accounted as a complex skill and process for foreign language learners who commit errors in writing are found as an inevitable part of language learners' writing. This study aims to explore and analyze the learners of English-as-a foreign Language (EFL) freewriting in a University in Taiwan by identifying the category of mistakes that often appear in their freewriting activity and analyzing the learners' awareness of each error. Hopefully, this present study will be able to gain further information about students' errors in their English writing that may contribute to further understanding of the benefits of freewriting activity that can be used for future purposes as a powerful tool in English writing courses for EFL classes. The present study adopted the framework of error analysis proposed by Dulay, Burt, and Krashen (1982), which consisted of a compilation of data, identification of errors, classification of error types, calculation of frequency of each error, and error interpretation. Survey questionnaires regarding students' awareness of errors were also analyzed and discussed. Using quantitative and qualitative approaches, this study provides a detailed description of the errors found in the students'freewriting output, explores the similarities and differences of the students' errors in both academic writing and freewriting, and lastly, analyzes the students' perception of their errors.

Keywords: error, EFL, freewriting, taiwan, english

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Authors: Bashar Albaalbaki, Roger E. Khayat

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This work is a comparative study on the effect of Delaunay triangulation algorithms on discretization error for conduction-convection conservation problems. A structured triangulation and many unstructured Delaunay triangulations using three popular algorithms for node placement strategies are used. The numerical method employed is the vertex-centered finite volume method. It is found that when the computational domain can be meshed using a structured triangulation, the discretization error is lower for structured triangulations compared to unstructured ones for only low Peclet number values, i.e. when conduction is dominant. However, as the Peclet number is increased and convection becomes more significant, the unstructured triangulations reduce the discretization error. Also, no statistical correlation between triangulation angle extremums and the discretization error is found using 200 samples of randomly generated Delaunay and non-Delaunay triangulations. Thus, the angle extremums cannot be an indicator of the discretization error on their own and need to be combined with other triangulation quality measures, which is the subject of further studies.

Keywords: conduction-convection problems, Delaunay triangulation, discretization error, finite volume method

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Authors: Ahmed Abdolkhalig, Rastko Zivanovic

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This paper evaluates the Total Vector Error of an estimated Phasor as define in IEEE C37.118 standard within different medium access in Local Area Networks (LAN). Three different LAN models (CSMA/CD, CSMA/AMP, and Switched Ethernet) are evaluated. The Total Vector Error of the estimated Phasor has been evaluated for the effect of Nodes Number under the standardized network Band-width values defined in IEC 61850-9-2 communication standard (i.e. 0.1, 1, and 10 Gbps).

Keywords: phasor, local area network, total vector error, IEEE C37.118, IEC 61850

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Authors: Atiq Zaman

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The high contamination rate in the recycling waste stream is one of the major problems in Australia. In addition, a lack of reliable waste data makes it even more difficult for designing and implementing an effective waste management plan. This article conceptualizes the opportunity to improve resource productivity by integrating smart resource tracking system (SRTS) into the Australian household waste management system. The application of the smart resource tracking system will be implemented through the following ways: (i) mobile application-based resource tracking system used to measure the household’s material flow; (ii) RFID, smart image and weighing system used to track waste generation, recycling and contamination; (iii) informing and motivating manufacturer and retailers to improve their problematic products’ packaging; and (iv) ensure quality and reliable data through open-sourced cloud data for public use. The smart mobile application, imaging, radio-frequency identification (RFID) and weighing technologies are not new, but the very straightforward idea of using these technologies in the household resource consumption, waste bins and collection trucks will open up a new era of accurately measuring and effectively managing our waste. The idea will bring the most urgently needed reliable, data and clarity on household consumption, recycling behaviour and waste management practices in the context of available local infrastructure and policies. Therefore, the findings of this study would be very important for decision makers to improve resource productivity in the waste industry by using smart resource tracking system.

Keywords: smart devices, mobile application, smart sensors, resource tracking, waste management, resource productivity

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Authors: Diteboho Xaba, Kolentino Mpeta, Tlotliso Qejoe

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This paper assesses the in-sample forecasting of the South African exchange rates comparing a linear ARIMA model and a SETAR model. The study uses a monthly adjusted data of South African exchange rates with 420 observations. Akaike information criterion (AIC) and the Schwarz information criteria (SIC) are used for model selection. Mean absolute error (MAE), root mean squared error (RMSE) and mean absolute percentage error (MAPE) are error metrics used to evaluate forecast capability of the models. The Diebold –Mariano (DM) test is employed in the study to check forecast accuracy in order to distinguish the forecasting performance between the two models (ARIMA and SETAR). The results indicate that both models perform well when modelling and forecasting the exchange rates, but SETAR seemed to outperform ARIMA.

Keywords: ARIMA, error metrices, model selection, SETAR

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Authors: Mohammad Izadkhah, Mojtaba Hoseini, Alireza Khalili Tehrani

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In this paper we presented a new method for tracking flying targets in color video sequences based on contour and kernel. The aim of this work is to overcome the problem of losing target in changing light, large displacement, changing speed, and occlusion. The proposed method is made in three steps, estimate the target location by particle filter, segmentation target region using neural network and find the exact contours by greedy snake algorithm. In the proposed method we have used both region and contour information to create target candidate model and this model is dynamically updated during tracking. To avoid the accumulation of errors when updating, target region given to a perceptron neural network to separate the target from background. Then its output used for exact calculation of size and center of the target. Also it is used as the initial contour for the greedy snake algorithm to find the exact target's edge. The proposed algorithm has been tested on a database which contains a lot of challenges such as high speed and agility of aircrafts, background clutter, occlusions, camera movement, and so on. The experimental results show that the use of neural network increases the accuracy of tracking and segmentation.

Keywords: video tracking, particle filter, greedy snake, neural network

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Authors: Hyun June Kim, Tailong Shi, Seden Akdagli, Sam Most, Yuling Yan

Abstract:

Quantitative analysis of mouse whisker movement can be used to study functional recovery and regeneration of facial nerve after an injury. However, it is challenging to accurately track mouse whisker movements, and most whisker tracking methods require manual intervention, e.g. fixing the head of the mouse during a study. Here we describe a semi-automated image processing method that is applied to high-speed video recordings of free-moving mice to track whisker movements. We first track the head movement of a mouse by delineating the lower head contour frame-by-frame to locate and determine the orientation of its head. Then, a region of interest is identified for each frame, with subsequent application of the Hough transform to track individual whisker movements on each side of the head. Our approach is used to examine the functional recovery of damaged facial nerves in mice over a course of 21 days.

Keywords: mystacial macrovibrissae, whisker tracking, head tracking, facial nerve recovery

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Authors: Thomas Odaker, Dieter Kranzlmueller, Jens Volkert

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We present an approach to triangle mesh simplification designed to be executed on the GPU. We use a quadric error metric to calculate an error value for each vertex of the mesh and order all vertices based on this value. This step is followed by the parallel removal of a number of vertices with the lowest calculated error values. To allow for the parallel removal of multiple vertices we use a set of per-vertex boundaries that prevent mesh foldovers even when simplification operations are performed on neighbouring vertices. We execute multiple iterations of the calculation of the vertex errors, ordering of the error values and removal of vertices until either a desired number of vertices remains in the mesh or a minimum error value is reached. This parallel approach is used to speed up the simplification process while maintaining mesh topology and avoiding foldovers at every step of the simplification.

Keywords: computer graphics, half edge collapse, mesh simplification, precomputed simplification, topology preserving

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Authors: Melissa Langevin, Natalie Ward, Colleen Fitzgibbons, Christa Ramsey, Melanie Hogue, Anna Theresa Lobos

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Description: Root Cause Analysis (RCA) is used by health care teams to examine adverse events (AEs) to identify causes which then leads to recommendations for prevention Despite widespread use, RCA has limitations. Best practices have not been established for implementing recommendations or tracking the impact of interventions after AEs. During phase 1 of this study, we used simulation to analyze two fictionalized AEs that occurred in hospitalized paediatric patients to identify and understand how the errors occurred and generated recommendations to mitigate and prevent recurrences. Scenario A involved an error of commission (inpatient drug error), and Scenario B involved detecting an error that already occurred (critical care drug infusion error). Recommendations generated were: improved drug labeling, specialized drug kids, alert signs and clinical checklists. Aim: Use simulation to optimize interventions recommended post critical event analysis prior to implementation in the clinical environment. Methods: Suggested interventions from Phase 1 were designed and tested through scenario simulation in the clinical environment (medicine ward or pediatric intensive care unit). Each scenario was simulated 8 times. Recommendations were tested using different, voluntary teams and each scenario was debriefed to understand why the error was repeated despite interventions and how interventions could be improved. Interventions were modified with subsequent simulations until recommendations were felt to have an optimal effect and data saturation was achieved. Along with concrete suggestions for design and process change, qualitative data pertaining to employee communication and hospital standard work was collected and analyzed. Results: Each scenario had a total of three interventions to test. In, scenario 1, the error was reproduced in the initial two iterations and mitigated following key intervention changes. In scenario 2, the error was identified immediately in all cases where the intervention checklist was utilized properly. Independently of intervention changes and improvements, the simulation was beneficial to identify which of these should be prioritized for implementation and highlighted that even the potential solutions most frequently suggested by participants did not always translate into error prevention in the clinical environment. Conclusion: We conclude that interventions that help to change process (epinephrine kit or mandatory checklist) were more successful at preventing errors than passive interventions (signage, change in memory aids). Given that even the most successful interventions needed modifications and subsequent re-testing, simulation is key to optimizing suggested changes. Simulation is a safe, practice changing modality for institutions to use prior to implementing recommendations from RCA following AE reviews.

Keywords: adverse events, patient safety, pediatrics, root cause analysis, simulation

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Authors: Abolfazl Mohammadijoo

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In this paper, we are investigating the sliding mode control approach for trajectory tracking of a two-link-manipulator with a wheeled mobile robot in its base. The main challenge of this work is the dynamic interaction between mobile base and manipulator, which makes trajectory tracking more difficult than n-link manipulators with a fixed base. Another challenging part of this work is to avoid from chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of the sliding mode control approach for the desired trajectory.

Keywords: mobile manipulator, sliding mode control, dynamic interaction, mobile robotics

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