Search results for: Localization cues.

Authors: D. O. Omondi, M. K. Walingo, G. M. Mbagaya

Abstract:

Objective: This study explored the possibility of integrating Health Belief Concepts as additional predictors of intention to adopt a recommended diet-category within the Theory of Planned Behavior (TPB). Methods: The study adopted a Sequential Exploratory Mixed Methods approach. Qualitative data were generated on attitude, subjective norm, perceived behavioral control and perceptions on predetermined diet-categories including perceived susceptibility, perceived benefits, perceived severity and cues to action. Synthesis of qualitative data was done using constant comparative approach during phase 1. A survey tool developed from qualitative results was used to collect information on the same concepts across 237 legible Type 2 diabetics. Data analysis included use of Structural Equation Modeling in Analysis of Moment Structures to explore the possibility of including perceived susceptibility, perceived benefits, perceived severity and cues to action as additional intention predictors in a single nested model. Results: Two models-one nested based on the traditional TPB model {χ2=223.3, df = 77, p = .02, χ2/df = 2.9; TLI = .93; CFI =.91; RMSEA (90CI) = .090(.039, .146)} and the newly proposed Planned Behavior Health Belief Model (PBHB) {χ2 = 743.47, df = 301, p = .019; TLI = .90; CFI=.91; RMSEA (90CI) = .079(.031, .14)} passed the goodness of fit tests based on common fit indicators used. Conclusion: The newly developed PBHB Model ranked higher than the traditional TPB model with reference made to chi-square ratios (PBHB: χ2/df = 2.47; p=0.19 against TPB: χ2/df = 2.9, p=0.02). The integrated model can be used to motivate Type 2 diabetics towards healthy eating.

Keywords: Theory, intention, predictors, mixed methods design.

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Authors: S. H. Mohades Kasaei, S. M. Mohades Kasaei, S. A. Mohades Kasaei, M. Taheri, M. Rahimi, H. Vahiddastgerdi, M. Saeidinezhad

Abstract:

Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensive Omni directional mobile robot. Such a robot can respond more quickly and it would be capable for more sophisticated behaviors with multi-sensor data fusion algorithm for global localization base on the data fusion. This paper has tried to focus on the research improvements in the mechanical, electrical and software design of the robots of team ADRO Iran. The main improvements are the world model, the new strategy framework, mechanical structure, Omni-vision sensor for object detection, robot path planning, active ball handling mechanism and the new kicker design, , and other subjects related to mobile robot

Keywords: Mobile robot, Machine vision, Omni directional movement, Autonomous Systems, Robot path planning, Object Localization.

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Authors: M. Hamad Hassan, S.A.M. Gilani

Abstract:

In this paper, a novel scheme is proposed for Ownership Identification and Color Image Authentication by deploying Cryptography & Digital Watermarking. The color image is first transformed from RGB to YST color space exclusively designed for watermarking. Followed by color space transformation, each channel is divided into 4×4 non-overlapping blocks with selection of central 2×2 sub-blocks. Depending upon the channel selected two to three LSBs of each central 2×2 sub-block are set to zero to hold the ownership, authentication and recovery information. The size & position of sub-block is important for correct localization, enhanced security & fast computation. As YS ÔèÑ T so it is suitable to embed the recovery information apart from the ownership and authentication information, therefore 4×4 block of T channel along with ownership information is then deployed by SHA160 to compute the content based hash that is unique and invulnerable to birthday attack or hash collision instead of using MD5 that may raise the condition i.e. H(m)=H(m'). For recovery, intensity mean of 4x4 block of each channel is computed and encoded upto eight bits. For watermark embedding, key based mapping of blocks is performed using 2DTorus Automorphism. Our scheme is oblivious, generates highly imperceptible images with correct localization of tampering within reasonable time and has the ability to recover the original work with probability of near one.

Keywords: Hash Collision, LSB, MD5, PSNR, SHA160

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Authors: Wilayat Ali, Li Sheng, Waleed Ahmed

Abstract:

The ability of the robot to make simultaneously map of the environment and localize itself with respect to that environment is the most important element of mobile robots. To solve SLAM many algorithms could be utilized to build up the SLAM process and SLAM is a developing area in Robotics research. Robot Operating System (ROS) is one of the frameworks which provide multiple algorithm nodes to work with and provide a transmission layer to robots. Manyof these algorithms extensively in use are Hector SLAM, Gmapping and Cartographer SLAM. This paper describes a ROS-based Simultaneous localization and mapping (SLAM) library Google Cartographer mapping, which is open-source algorithm. The algorithm was applied to create a map using laser and pose data from 2d Lidar that was placed on a mobile robot. The model robot uses the gazebo package and simulated in Rviz. Our research work's primary goal is to obtain mapping through Cartographer SLAM algorithm in a static indoor environment. From our research, it is shown that for indoor environments cartographer is an applicable algorithm to generate 2d maps with LIDAR placed on mobile robot because it uses both odometry and poses estimation. The algorithm has been evaluated and maps are constructed against the SLAM algorithms presented by Turtlebot2 in the static indoor environment.

Keywords: SLAM, ROS, navigation, localization and mapping, Gazebo, Rviz, Turtlebot2, SLAM algorithms, 2d Indoor environment, Cartographer.

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Authors: David Kubát

Abstract:

This paper suggests using smartphones and community GPS application to make alerts more accurate and therefore positively influence the entire warning process. The paper is based on formerly published paper describing a Radio-HELP system. It summarizes existing methods and lists the advantages of proposed solution. The paper analyzes the advantages and disadvantages of each possible input, processing and output of the warning system.

Keywords: e-Call, warning, information, Radio-Help, WAZE

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Authors: Mehdi Tatari

Abstract:

Finding the interpolation function of a given set of nodes is an important problem in scientific computing. In this work a kind of localization is introduced using the radial basis functions which finds a sufficiently smooth solution without consuming large amount of time and computer memory. Some examples will be presented to show the efficiency of the new method.

Keywords: Radial basis functions, local interpolation method, closed form solution.

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Authors: A. Ghanbari Mardasi, N. Wu, C. Wu

Abstract:

In this study, a spatial wavelet-based crack localization technique for a thick beam is presented. Wavelet scale in spatial wavelet transformation is optimized to enhance crack detection sensitivity. A windowing function is also employed to erase the edge effect of the wavelet transformation, which enables the method to detect and localize cracks near the beam/measurement boundaries. Theoretical model and vibration analysis considering the crack effect are first proposed and performed in MATLAB based on the Timoshenko beam model. Gabor wavelet family is applied to the beam vibration mode shapes derived from the theoretical beam model to magnify the crack effect so as to locate the crack. Relative wavelet coefficient is obtained for sensitivity analysis by comparing the coefficient values at different positions of the beam with the lowest value in the intact area of the beam. Afterward, the optimal wavelet scale corresponding to the highest relative wavelet coefficient at the crack position is obtained for each vibration mode, through numerical simulations. The same procedure is performed for cracks with different sizes and positions in order to find the optimal scale range for the Gabor wavelet family. Finally, Hanning window is applied to different vibration mode shapes in order to overcome the edge effect problem of wavelet transformation and its effect on the localization of crack close to the measurement boundaries. Comparison of the wavelet coefficients distribution of windowed and initial mode shapes demonstrates that window function eases the identification of the cracks close to the boundaries.

Keywords: Edge effect, scale optimization, small crack locating, spatial wavelet.

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Authors: Dilip K. Prasad, C. Krishna Prasath, Deepu Rajan, Lily Rachmawati, Eshan Rajabally, Chai Quek

Abstract:

This paper discusses the technical challenges in maritime image processing and machine vision problems for video streams generated by cameras. Even well documented problems of horizon detection and registration of frames in a video are very challenging in maritime scenarios. More advanced problems of background subtraction and object detection in video streams are very challenging. Challenges arising from the dynamic nature of the background, unavailability of static cues, presence of small objects at distant backgrounds, illumination effects, all contribute to the challenges as discussed here.

Keywords: Autonomous maritime vehicle, object detection, situation awareness, tracking.

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Authors: Pablo Barrera, Jose M. Canas, Vicente Matellan

Abstract:

This paper addresses the problem of determining the current 3D location of a moving object and robustly tracking it from a sequence of camera images. The approach presented here uses a particle filter and does not perform any explicit triangulation. Only the color of the object to be tracked is required, but not any precisemotion model. The observation model we have developed avoids the color filtering of the entire image. That and the Monte Carlotechniques inside the particle filter provide real time performance.Experiments with two real cameras are presented and lessons learned are commented. The approach scales easily to more than two cameras and new sensor cues.

Keywords: Monte Carlo sampling, multiple view, particle filters, visual tracking.

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Authors: Byung Ki Kim, Ho Min Jung, Jae-Bong Yoo, Wan Yeon Lee, Chan Young Park, Young Woong Ko

Abstract:

In this paper, we present a novel approach to location system under indoor environment. The key idea of our work is accurate distance estimation with cricket-based location system using A* algorithm. We also use magnetic sensor for detecting obstacles in indoor environment. Finally, we suggest how this system can be used in various applications such as asset tracking and monitoring.

Keywords: Cricket, Indoor Location Tracking, Mobile Robot, Localization.

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Authors: Jan Newmarch

Abstract:

With the increasing spread of computers and the internet among culturally, linguistically and geographically diverse communities, issues of internationalization and localization and becoming increasingly important. For some of the issues such as different scales for length and temperature, there is a well-developed measurement theory. For others such as date formats no such theory will be possible. This paper fills a gap by developing a measurement theory for a class of scales previously overlooked, based on discrete and interval-valued scales such as spanner and shoe sizes. The paper gives a theoretical foundation for a class of data representation problems.

Keywords: Data representation, internationalisation, localisation, measurement theory.

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Authors: M. Bouri, S. Bourennane

Abstract:

In this paper, we propose a novel method for subspace estimation used high resolution method without eigendecomposition where the sample Cross-Spectral Matrix (CSM) is replaced by upper triangular matrix obtained from LU factorization. This novel method decreases the computational complexity. The method relies on a recently published result on Rank-Revealing LU (RRLU) factorization. Simulation results demonstrates that the new algorithm outperform the Householder rank-revealing QR (RRQR) factorization method and the MUSIC in the low Signal to Noise Ratio (SNR) scenarios.

Keywords: Factorization, Localization, Matrix, Signalsubspace.

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Authors: Piotr Podlipniak

Abstract:

This paper proposes that in the course of evolution pitch structure became a human specific tool of communication the function of which is to induce emotional states such as uncertainty and cohesion. By the means of eliciting these emotions during collective music performance people are able to unconsciously give cues concerning social acceptance. This is probably one of the reasons why in all cultures people collectively perform tonal music. It is also suggested that tonal pitch structure had been invented socially before it became an evolutionary innovation of hominines. It means that a predisposition to tonally organize pitches evolved by the means of ‘Baldwin effect’ – a process in which natural selection transforms the learned response of an organism into the instinctive response. In the proposed, hypothetical evolutionary scenario of the emergence of tonal pitch structure social forces such as a need for closer cooperation play the crucial role.

Keywords: Emotion, evolution, tonality, social consolidation.

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Authors: Nilson Barbieri, Renato Barbieri

Abstract:

–In this paper the damage in clamped-free, clampedclamped and free-free beam are analyzed considering samples without and with structural modifications. The damage location is investigated by the use of the bispectrum and wavelet analysis. The mathematical models are obtained using 2D elasticity theory and the Finite Element Method (FEM). The numerical and experimental data are approximated using the Particle Swarm Optimizer (PSO) method and this way is possible to adjust the localization and the severity of the damage. The experimental data are obtained through accelerometers placed along the sample. The system is excited using impact hammer.

Keywords: Damage, beam, PSO, bispectrum, wavelet transform

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Authors: M. Ketcham, S. Vongpradhip

Abstract:

In this paper, an innovative watermarking scheme for audio signal based on genetic algorithms (GA) in the discrete wavelet transforms is proposed. It is robust against watermarking attacks, which are commonly employed in literature. In addition, the watermarked image quality is also considered. We employ GA for the optimal localization and intensity of watermark. The watermark detection process can be performed without using the original audio signal. The experimental results demonstrate that watermark is inaudible and robust to many digital signal processing, such as cropping, low pass filter, additive noise.

Keywords: Intelligent Audio Watermarking, GeneticAlgorithm, DWT Domain.

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Authors: Shai Sarussi

Abstract:

Let S be an integral domain with field of fractions F and let A be an F-algebra. An S-subalgebra R of A is called S-nice if R∩F = S and the localization of R with respect to S \{0} is A. Denoting by W the set of all S-nice subalgebras of A, and defining a notion of open sets on W, one can view W as a T0-Alexandroff space. A characterization of the property of immediate neighbors in an Alexandroff topological space is given, in terms of closed and open subsets of appropriate subspaces. Moreover, two special subspaces of W are introduced, and a way in which their closed and open subsets induce W is presented.

Keywords: Algebras over integral domains, Alexandroff topology, immediate neighbors, integral domains.

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Authors: Mazin Z. Othman, Maan M. Shaker, Mohammed F. Abdullah

Abstract:

This study introduces a new method for detecting, sorting, and localizing spikes from multiunit EEG recordings. The method combines the wavelet transform, which localizes distinctive spike features, with Super-Paramagnetic Clustering (SPC) algorithm, which allows automatic classification of the data without assumptions such as low variance or Gaussian distributions. Moreover, the method is capable of setting amplitude thresholds for spike detection. The method makes use of several real EEG data sets, and accordingly the spikes are detected, clustered and their times were detected.

Keywords: EEG time localizations, EEG spike detection, superparamagnetic algorithm, wavelet transform.

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Authors: A. Giniatoulline

Abstract:

A nonlinear model of the mathematical fluid dynamics which describes the motion of an incompressible viscous rotating fluid in a homogeneous gravitational field is considered. The model is a generalization of the known Navier-Stokes system with the addition of the Coriolis parameter and the equations for changeable density. An explicit algorithm for the solution is constructed, and the proof of the existence and uniqueness theorems for the strong solution of the nonlinear problem is given. For the linear case, the localization and the structure of the spectrum of inner waves are also investigated.

Keywords: Galerkin method, Navier-Stokes equations, nonlinear partial differential equations, Sobolev spaces, stratified fluid.

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Authors: Ksheeraj Sai Vepuri, Nada Attar

Abstract:

We as humans use words with accompanying visual and facial cues to communicate effectively. Classifying facial emotion using computer vision methodologies has been an active research area in the computer vision field. In this paper, we propose a simple method for facial expression recognition that enhances accuracy. We tested our method on the FER-2013 dataset that contains static images. Instead of using Histogram equalization to preprocess the dataset, we used Unsharp Mask to emphasize texture and details and sharpened the edges. We also used ImageDataGenerator from Keras library for data augmentation. Then we used Convolutional Neural Networks (CNN) model to classify the images into 7 different facial expressions, yielding an accuracy of 69.46% on the test set. Our results show that using image preprocessing such as the sharpening technique for a CNN model can improve the performance, even when the CNN model is relatively simple.

Keywords: Facial expression recognition, image pre-processing, deep learning, CNN.

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Authors: Sunho Ki, Daehwan Kim, Seongwon Cho, Sun-Tae Chung, Jaemin Kim, Yun-Kwang Hong, Chang Joon Park, Dongmin Kwon, Minhee Kang, Yusung Kim, Younghan Yoon

Abstract:

AAM (active appearance model) has been successfully applied to face and facial feature localization. However, its performance is sensitive to initial parameter values. In this paper, we propose a two-stage AAM for robust face alignment, which first fits an inner face-AAM model to the inner facial feature points of the face and then localizes the whole face and facial features by optimizing the whole face-AAM model parameters. Experiments show that the proposed face alignment method using two-stage AAM is more reliable to the background and the head pose than the standard AAM-based face alignment method.

Keywords: AAM, Face Alignment, Feature Extraction, PCA

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Authors: Charbel Geryes Aoun, Loic Lagadec

Abstract:

A Sensor Network (SN) is considered as an operation of two phases: (1) the observation/measuring, which means the accumulation of the gathered data at each sensor node; (2) transferring the collected data to some processing center (e.g. Fusion Servers) within the SN. Therefore, an underwater sensor network can be defined as a sensor network deployed underwater that monitors underwater activity. The deployed sensors, such as hydrophones, are responsible for registering underwater activity and transferring it to more advanced components. The process of data exchange between the aforementioned components perfectly defines the Marine Observatory (MO) concept which provides information on ocean state, phenomena and processes. The first step towards the implementation of this concept is defining the environmental constraints and the required tools and components (Marine Cables, Smart Sensors, Data Fusion Server, etc). The logical and physical components that are used in these observatories perform some critical functions such as the localization of underwater moving objects. These functions can be orchestrated with other services (e.g. military or civilian reaction). In this paper, we present an extension to our MO meta-model that is used to generate a design tool (ArchiMO). We propose constraints to be taken into consideration at design time. We illustrate our proposal with an example from the MO domain. Additionally, we generate the corresponding simulation code using our self-developed domain-specific model compiler. On the one hand, this illustrates our approach in relying on Enterprise Architecture (EA) framework that respects: multiple-views, perspectives of stakeholders, and domain specificity. On the other hand, it helps reducing both complexity and time spent in design activity, while preventing from design modeling errors during porting this activity in the MO domain. As conclusion, this work aims to demonstrate that we can improve the design activity of complex system based on the use of MDE technologies and a domain-specific modeling language with the associated tooling. The major improvement is to provide an early validation step via models and simulation approach to consolidate the system design.

Keywords: Smart sensors, data fusion, distributed fusion architecture, sensor networks, domain specific modeling language, enterprise architecture, underwater moving object, localization, marine observatory, NS-3, IMS.

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Authors: Jae-Young Choi, Sung-Gaun Kim

Abstract:

This paper suggests a calibration method to reduce errors occurring due to mobile robot sliding during location estimation using the Dead-reckoning. Due to sliding of the mobile robot caused between its wheels and the road surface while on free run, location estimation can be erroneous. Sliding especially occurs during cornering of mobile robot. Therefore, in order to reduce these frequent sliding errors in cornering, we calibrated the mobile robot-s heading values using a vision camera and templates of the ceiling.

Keywords: Dead-reckoning, Localization, Odomerty, Vision Camera

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Authors: F. Bendahma, S. Bentata, S. Cherid, A. Zitouni, S. Terkhi, T. Lantri, Y. Sefir, Z. F. Meghoufel

Abstract:

We examine the electronic transport properties in Al_xGa_1-xAs/GaAs superlattices. Using the transfer-matrix technique and the exact Airy function formalism, we investigate theoretically the effect of structural parameters on the electronic energy spectra of trimer thickness barrier (TTB). Our numerical calculations showed that the localization length of the states becomes more extended when the disorder is correlated (trimer case). We have also found that the resonant tunneling time (RTT) is of the order of several femtoseconds.

Keywords: Electronic transport properties, structural parameters, superlattice, transfer-matrix technique.

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Authors: Yi Feng, Jingwen Li, Lei Huang, Changping Liu

Abstract:

In this paper we proposed a novel method to acquire the ROI (Region of interest) of unsupervised and touch-less palmprint captured from a web camera in real-time. We use Viola-Jones approach and skin model to get the target area in real time. Then an innovative course-to-fine approach to detect the key points on the hand is described. A new algorithm is used to find the candidate key points coarsely and quickly. In finely stage, we verify the hand key points with the shape context descriptor. To make the user much comfortable, it can process the hand image with different poses, even the hand is closed. Experiments show promising result by using the proposed method in various conditions.

Keywords: Palmprint recoginition, hand detection, touch-lesspalmprint, ROI localization.

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Authors: S. Veera Ragavan, V. Ganapathy

Abstract:

Many environment specific methods and systems for Robot Navigation exist. However vast strides in the evolution of navigation technologies and system techniques create the need for a general unified framework that is scalable, modular and dynamic. In this paper a Unified Framework for a Robust Conflict-free Robot Navigation System that can be used for either a structured or unstructured and indoor or outdoor environments has been proposed. The fundamental design aspects and implementation issues encountered during the development of the module are discussed. The results of the deployment of three major peripheral modules of the framework namely the GSM based communication module, GIS Module and GPS module are reported in this paper.

Keywords: Localization, Sensor Fusion, Mapping, GIS, GPS, and Autonomous Mobile Robot Navigation.

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Authors: Roscoe McLean, Jared Padayachee, Glen Bright

Abstract:

There is currently a gap in the technology covering the rapid establishment of control after a reconfiguration in a Reconfigurable Manufacturing System. This gap involves the detection of the factory floor state and the communication link between the factory floor and the high-level software. In this paper, a thin, hardware-supported Middleware Management System (MMS) is proposed and its design and implementation are discussed. The research found that a cost-effective localization technique can be combined with intelligent software to speed up the ramp-up of a reconfigured system. The MMS makes the process more intelligent, more efficient and less time-consuming, thus supporting the industrial implementation of the RMS paradigm.

Keywords: Intelligent systems, middleware, reconfigurable manufacturing.

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Authors: Guezouli Larbi, Belkacem Soundes

Abstract:

The automation of the text detection process can help the human in his driving task. Its application can be very useful to help drivers to have more information about their environment by facilitating the reading of road signs such as directional signs, events, stores, etc. In this paper, a system consisting of two stages has been proposed. In the first one, we used pseudo-Zernike moments to pinpoint areas of the image that may contain text. The architecture of this part is based on three main steps, region of interest (ROI) detection, text localization, and non-text region filtering. Then, in the second step, we present a convolutional neural network architecture (On-Road Text Detection Network - ORTDN) which is considered as a classification phase. The results show that the proposed framework achieved ≈ 35 fps and an mAP of ≈ 90%, thus a low computational time with competitive accuracy.

Keywords: Text detection, CNN, PZM, deep learning.

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Authors: C. Lodato, S. Lopes

Abstract:

This paper describes a segmentation algorithm based on the cooperation of an optical flow estimation method with edge detection and region growing procedures. The proposed method has been developed as a pre-processing stage to be used in methodologies and tools for video/image indexing and retrieval by content. The addressed problem consists in extracting whole objects from background for producing images of single complete objects from videos or photos. The extracted images are used for calculating the object visual features necessary for both indexing and retrieval processes. The first task of the algorithm exploits the cues from motion analysis for moving area detection. Objects and background are then refined using respectively edge detection and region growing procedures. These tasks are iteratively performed until objects and background are completely resolved. The developed method has been applied to a variety of indoor and outdoor scenes where objects of different type and shape are represented on variously textured background.

Keywords: Motion Detection, Object Extraction, Optical Flow, Segmentation.

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Authors: Gheorghe Galben, Daniel N. Aloi

Abstract:

Recently, the Spherical Motion Models (SMM-s) have been introduced [1]. These new models have been developed for 3D local landmark-base Autonomous Navigation (AN). This paper is revealing new arguments and experimental results to support the SMM-s characteristics. The accuracy and the robustness in performing a specific task are the main concerns of the new investigations. To analyze their performances of the SMM-s, the most powerful tools of estimation theory, the extended Kalman filter (EKF) and unscented Kalman filter (UKF), which give the best estimations in noisy environments, have been employed. The Monte Carlo validation implementations used to test the stability and robustness of the models have been employed as well.

Keywords: Autonomous navigation, extended kalman filter, unscented kalman filter, localization algorithms.

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Authors: Yue Du, Sahan C. B. Herath, Qing-Guo Wang, Harry Asada, Peter C. Y. Chen

Abstract:

Mechanical interaction between endothelial cells (ECs) and the extracellular matrix (or collagen gel) is known to influence the sprouting response of endothelial cells during angiogenesis. This influence is believed to impact on the capability of endothelial cells to sense soluble chemical cues. Quantitative analysis of endothelial-cell-mediated displacement of the collagen gel provides a means to explore this mechanical interaction. Existing analysis in this context is generally limited to 2D settings. In this paper, we investigate the mechanical interaction between endothelial cells and the extracellular matrix in terms of the endothelial-cellmediated displacement of the collagen gel in both 2D and 3D. Digital image correlation and Digital volume correlation are applied on confocal reflectance image stacks to analyze cell-mediated displacement of the gel. The skeleton of the sprout is extracted from phase contrast images and superimposed on the displacement field to further investigate the link between the development of the sprout and the displacement of the gel.

Keywords: Angiogenesis, digital image correlation, digital volume correlation, interaction between ECs and ECM.

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