Constant Frame Research Articles

Autorotation-Based Descent with Trajectory Optimization

The paper investigates the unpowered descent of a rotor system through the upper atmosphere. Axial and helical trajectories are investigated in the context of fixed points as well as an optimal control problem for maximizing flight time. The mathematical model considered in the paper incorporates the fuselage degrees of freedom, dynamic inflow model, and airfoil characteristics that depend on Mach and Reynolds numbers. Considering a potential application as a descent mechanism, trajectory generation is performed to maximize the flight time. As an example, the performance in the Venusian atmosphere for rotors with different airfoil characteristics is assessed. To delineate the role of constraints, initial conditions, and aerodynamic forces on the optimal descent, the axial trajectory is studied by dividing it into two phases. The first phase corresponds to the trajectory determination through an optimization process wherein control inputs are provided such that states are within bounds. The second phase trajectory (below 70 km), although determined by solving the optimal control problem as in phase-I, is shown to be close to that achieved using control inputs corresponding to fixed points corresponding to each altitude. Apart from the axial flight, helical trajectories and corresponding fixed points are investigated using a rotating constant sideslip frame. Furthermore, optimal helical trajectories are also determined, which could be useful for rotor-based descent mechanisms. A comparison between axial and helical fixed-point solutions is also presented.

Multi-timescale boosting for efficient and improved event camera face pose alignment

The success of event camera (EC) vision in certain types of applications has been steadily shown thanks to energy-efficient sparse sensing, high dynamic range, and extremely high temporal resolution. However, the utilization of ECs for facial processing tasks has remained rather limited. To enable high energy efficiency for large face pose alignment, which is a crucial facial pre-processing stage, we aim at leveraging EC by effective adaptation of the processing rate proportional to facial movement intensity. For this purpose, we propose a novel alternative to the commonly employed constant time frame and event count frame strategies which combines their advantages and provides the benefits of supervised learning. This is realized by a multi-timescale boosting framework that can generate highly sparse pose-events at a variable rate via detection-based online timescale selection. Although detectors of multiple scales with boosted sensitivities operate as a cascade, our method provides minimal delay essential for real-time applications. Comprehensive evaluations show that the proposed multi-timescale processing substantially improves the performance–efficiency trade-off over single-timescale frames and markedly over event count frames. Mega-floating-point-operations-per-second ranges from 2.5 at the moderate motion clips to 6.5 at the intense motion clips, with negligible computation in the absence of activity. Also, alignment errors are considerably reduced by online selection of small timescales at fast head motion and of bigger timescales at slower motion or local activity of lips and eyes. Being orthogonal and complementary to spatial domain techniques, the proposed approach can also be conveniently integrated with future advances for further performance/efficiency improvements or for alignment extensions.

Gamification for road asset inspection from Mobile Mapping System data

ABSTRACT Gamification techniques have been proven effective in various fields such as education and industry. In this paper, we introduce a novel approach that applies gamification techniques to the identification of road assets in Mobile Laser Scanning (MLS) data. Our method utilises three gamification techniques: avatar (vehicle), point cloud segmentation into levels, and scoring. We implemented these techniques in Unreal Engine and evaluated their performance using three real-world case studies. We also compared two ways of point cloud visualisation: mesh-based and point-based. Our results demonstrate that our gamification approach improves the handling and visualisation of point clouds when compared to other free software such as Cloud Compare. Specifically, the point-based visualisation method provides a more accurate representation of the road environment and the input point cloud and is easier to import into Unreal Engine. However, this method requires more computational resources for visualisation. On the other hand, level segmentation ensures a constant frame rate of 60 frames per second. Furthermore, our gamification approach enhances the experience of road asset identification, making it more enjoyable for the user. However, we acknowledge that the quality of the point cloud remains the primary factor affecting the accuracy of asset identification, regardless of the software used. Overall, our proposed gamification approach offers a promising solution for improving the identification of road assets in MLS data and has the potential to be applied to other fields beyond road asset identification.

Development of an inexpensive 3D clinostat and comparison with other microgravity simulators using Mycobacterium marinum

2D and 3D Clinostats are used to simulate microgravity on Earth. These machines continuously alter the sample’s orientation, so the acceleration vector changes faster than the biological endpoint being monitored. Two commercially available microgravity simulators are the Rotary Cell Culture System (Synthecon Inc.), which is a 2D clinostat, and the RPM 2.0 (Yuri), which is a 3D clinostat that can operate as a random positioning machine or in constant frame velocity mode. We have developed an inexpensive 3D clinostat that can be 3D printed and assembled easily. To determine the optimal combination of inner (I) and outer (O) frame velocities to simulate microgravity, two factors were considered: the time-averaged magnitude and the distribution of the acceleration vector. A computer model was developed to predict the acceleration vector for combinations of frame velocities between 0.125 revolutions per minute (rpm) and 4 rpm, and a combination of I = 1.5 rpm and O = 3.875 rpm was predicted to produce the best microgravity simulation. Two other frame velocity combinations were also used in further tests: I = 0.75 rpm and O = 3.625 rpm, and I = 2 rpm and O = 1.125 rpm. By operating the RPM 2.0 in constant velocity mode at these three velocity combinations, the RPM 2.0 algorithm data confirmed that these operating conditions simulated microgravity. Mycobacterium marinum was selected for biological comparison experiments as this bacterium can grow as a biofilm or a planktonic culture. Biofilm experiments revealed that the RPM 2.0 and the 3D clinostat with I = 1.5 rpm and O = 3.825 rpm produced similar structures in attached biofilm, and similar changes in transcriptome for the bacteria in suspension compared to the normal gravity transcriptome. Operating the 3D clinostat at I = 2 rpm and O = 1.125 rpm, and the Synthecon 2D clinostat in simulated microgravity orientation at 25 rpm resulted in the same decreased planktonic growth and increased rifampicin survival compared to normal gravity. This study validates the inexpensive 3D clinostat and demonstrates the importance of testing the operating conditions of lab-developed clinostats with biological experiments.

Optimal Latency-Oriented Coding and Scheduling in Parallel Queuing Systems

The evolution of 5G and Beyond networks has enabled new applications with stringent end-to-end latency requirements, but providing reliable low-latency service with high throughput over public wireless networks is still a significant challenge. One of the possible ways to solve this is to exploit path diversity, encoding the information flow over multiple streams across parallel links. The challenge presented by this approach is the design of joint coding and scheduling algorithms that adapt to the state of links to take full advantage of path diversity. In this paper, we address this problem for a synchronous traffic source that generates data blocks at regular time intervals (e.g., a video with constant frame rate) and needs to deliver each block within a predetermined deadline. We first develop a closed-form performance analysis in the simple case of two parallel servers without any buffering and single-packet blocks, and propose a model for the general problem based on a Markov Decision Process (MDP). We apply policy iteration to obtain the coding and scheduling policy that maximizes the fraction of source blocks delivered within the deadline: our simulations show the drawbacks of different commonly applied heuristic solutions, drawing general design insights on the optimal policy.

Adjacent Frame Difference with Dynamic Threshold Method in Underwater Flash Imaging LiDAR

During the underwater LiDAR imaging process, the images achieved by the conventional constant threshold adjacent frame difference (AFD) method normally loses the distance information of targets. This is mainly due to the Gaussian distribution of the laser light intensity field, which leads to the inhomogeneous intensity distribution in the frame from the target acquired by intensity charge-coupled devices (ICCD). In order to overcome this issue, the novel dynamic threshold adjacent frame difference (DTAFD) method was proposed in this paper. The DTAFD method modifies the intensity threshold following the pixel intensities in the different parts of the single frame intensity image acquired by ICCD. After the detailed theoretical demonstration of the DTAFD method, with the purpose of verifying its feasibility, the self-developed range-gated flash imaging LiDAR has been employed to construct the distance images of the rectangular and circular shaped targets at different distances. The distance between the rectangular target and the LiDAR system is 25.7 m, and the circular target is 70 cm further away from the rectangular target. The full distance information of these two targets is obtained by the DTAFD method with an effectively suppressing noise and the PSNR is increased from 6.95±0.0426 dB to 7.62±0.0264 dB. The experimental results indicate that the DTAFD method efficiently solves the AFD method’s drawback on the target information loss caused by the unequal optical field distribution, which makes it more suitable for the scenarios with uneven laser distribution such as the underwater imaging environment.

Multiple Sensor Synchronization with theRealSense RGB-D Camera

When reconstructing a 3D object, it is difficult to obtain accurate 3D geometric information using a single camera. In order to capture detailed geometric information of a 3D object, it is inevitable to increase the number of cameras to capture the object. However, cameras need to be synchronized in order to simultaneously capture frames. If cameras are incorrectly synchronized, many artifacts are produced in the reconstructed 3D object. The RealSense RGB-D camera, which is commonly used for obtaining geometric information of a 3D object, provides synchronization modes to mitigate synchronization errors. However, the synchronization modes provided by theRealSense cameras can only sync depth cameras and have limitations in the number of cameras that can be synchronized using a single host due to the hardware issue of stable data transmission. Therefore, in this paper, we propose a novel synchronization method that synchronizes an arbitrary number of RealSense cameras by adjusting the number of hosts to support stable data transmission. Our method establishes a master–slave architecture in order to synchronize the system clocks of the hosts. While synchronizing the system clocks, delays that resulted from the process of synchronization were estimated so that the difference between the system clocks could be minimized. Through synchronization of the system clocks, cameras connected to the different hosts can be synchronized based on the timestamp of the data received by the hosts. Thus, our method synchronizes theRealSense cameras to simultaneously capture accurate 3D information of an object at a constant frame rate without dropping it.

Spatiotemporal Gait Measurement With a Side-View Depth Sensor Using Human Joint Proposals.

We propose a method for calculating standard spatiotemporal gait parameters from individual human joints with a side-view depth sensor. Clinical walking trials were measured concurrently by a side-view Kinect and a pressure-sensitive walkway, the Zeno Walkway. Multiple joint proposals were generated from depth images by a stochastic predictor based on the Kinect algorithm. The proposals are represented as vertices in a weighted graph, where the weights depend on the expected and measured lengths between body parts. A shortest path through the graph is a set of joints from head to foot. Accurate foot positions are selected by comparing pairs of shortest paths. Stance phases of the feet are detected by examining the motion of the feet over time. The stance phases are used to calculate four gait parameters: stride length, step length, stride width, and stance percentage. A constant frame rate was assumed for the calculation of stance percentage because time stamps were not captured during the experiment. Gait parameters from 52 trials were compared to the ground truth walkway using Bland-Altman analysis and intraclass correlation coefficients. The large spatial parameters had the strongest agreements with the walkway (ICC(2, 1) = 1.00 and 0.98 for stride and step length with normal pace, respectively). The presented system directly calculates gait parameters from individual foot positions while previous side-view systems relied on indirect measures. Using a side-view system allows for tracking walking in both directions with one camera, extending the range in which the subject is in the field of view.

Closed-loop control of soft continuum manipulators under tip follower actuation

Continuum manipulators, inspired by nature, have drawn significant interest within the robotics community. They can facilitate motion within complex environments where traditional rigid robots may be ineffective, while maintaining a reasonable degree of precision. Soft continuum manipulators have emerged as a growing subfield of continuum robotics, with promise for applications requiring high compliance, including certain medical procedures. This has driven demand for new control schemes designed to precisely control these highly flexible manipulators, whose kinematics may be sensitive to external loads, such as gravity. This article presents one such approach, utilizing a rapidly computed kinematic model based on Cosserat rod theory, coupled with sensor feedback to facilitate closed-loop control, for a soft continuum manipulator under tip follower actuation and external loading. This approach is suited to soft manipulators undergoing quasi-static deployment, where actuators apply a follower wrench (i.e., one that is in a constant body frame direction regardless of robot configuration) anywhere along the continuum structure, as can be done in water-jet propulsion. In this article we apply the framework specifically to a tip actuated soft continuum manipulator. The proposed control scheme employs both actuator feedback and pose feedback. The actuator feedback is utilized to both regulate the follower load and to compensate for non-linearities of the actuation system that can introduce kinematic model error. Pose feedback is required to maintain accurate path following. Experimental results demonstrate successful path following with the closed-loop control scheme, with significant performance improvements gained through the use of sensor feedback when compared with the open-loop case.

On the Walén Relation for Alfvénic Fluctuations in Interplanetary Space

Abstract In interplanetary space, the majority of the Alfvénic fluctuations cannot satisfy the Walén relation even though plasma and magnetic field fluctuations are correlated very well. Finding a proper de Hoffman–Teller (HT) wave frame velocity is thus important for characterizing the Alfvénic fluctuations. Recognizing that the Alfvénic fluctuations emanating from different sizes of solar wind streams have their own HT frames, we propose a new scheme called the wave frame with varying velocity (WFVV) method by considering the local averaged HT frame to find a time-varying profile of HT frame velocity. We apply this WFVV method to two Alfvénic events on 2002 October 14 and 17. Unlike the three other schemes discussed in this study, the WFVV method is preferable because it can provide the HT frame variation in more detail, particularly for the large solar wind changes associated with directional discontinuities observed in the October 14 event. For such Alfvénic structures, a time-dependent HT frame derived from the WFVV method, rather than a constant HT frame, produces a better result of the Walén test together with a smaller convection electric field. The difference of estimated HT frame velocities among different schemes was as large as 30 km s−1 for these two events. In addition, we noted that the degree of Alfvénicity tends to decrease with an increasing variance of HT frame velocity, suggesting that a constant HT frame will also give good results for cases of a small variance of HT frame velocity.

Buffer Sizing for Multimedia Flows in Packet-Switching NoCs

Wormhole packet switching, used in many NoC designs, introduces jitter. This may produce violations of application deadlines. Several works in the literature propose stream workload models, and techniques for buffer sizing. These works do not consider the concurrency between different flows, or the NoC model is too abstract, masking the jitter introduced by data packaging and router processing. One technique to deal with jitter is to introduce a decoupling buffer (D-buffer) on the target IP. This buffer receives data from the NoC with jitter, while the target IP consumes data from this buffer at the application rate, without jitter. Two problems must be solved to implement D-buffers: (i) which size must the buffer have? (ii) how much time should be expected before data consumption starts (threshold)? This work proposes a general method to define D-buffer size and threshold, considering the influence of packaging, arbitration, routing and concurrency between flows. A traffic model for stream applications is detailed and used to characterize jitter sources in wormhole packet switching. Experimental results demonstrate the impact on multimedia flows with fixed and variable packet sizes (from real traffic traces). Simple traffic models employing constant frame sizes result in small D-buffers. On the other hand, employing multimedia frames from application traces (i.e. real application data) increases buffer size and threshold while still suppressing jitter. Another parameter analyzed in the paper is the percentage of deadline violations as a function of D-buffer size. The method guarantees throughput with no deadline violation and does not modify the NoC structure. The cost of adding such D-buffers is an increased latency and extra silicon area.

Low-Cost Active Thermography using Cellphone Infrared Cameras: from Early Detection of Dental Caries to Quantification of THC in Oral Fluid

Active thermography (AT) is a widely studied non-destructive testing method for the characterization and evaluation of biological and industrial materials. Despite its broad range of potential applications, commercialization and wide-spread adaption of AT has long been impeded by the cost and size of infrared (IR) cameras. In this paper, we demonstrate that this cost and size limitation can be overcome using cell-phone attachment IR cameras. A software development kit (SDK) is developed that controls camera attributes through a simple USB interface and acquires camera frames at a constant frame rate up to 33 fps. To demonstrate the performance of our low-cost AT system, we report and discuss our experimental results on two high impact potential applications. The first set of experiments is conducted on a dental sample to investigate the clinical potential of the developed low-cost technology for detecting early dental caries, while the second set of experiments is conducted on the oral-fluid based lateral flow immunoassay to determine the viability of our technology for detecting and quantifying cannabis consumption at the point-of-care. Our results suggest achievement of reliable performance in the low-cost platform, comparable to those of costly and bulky research-grade systems, paving the way for translation of AT techniques to market.

A Research on Dynamic Target Tracking with Camera Based on Kalman Filter

With the popularization of the camera, all kinds of video network communication technologies have developed towards civil use and become increasingly popular. For household application, a common PC is used to obtain the frame data from the home network, while the constant frame is set as the background. The update function is used to update background in real time, and thereby forming an inter-frame relation matrix. Based on the matrix, Kalman filter can match and track targets. This method can effectively complete the calculation on the PC, perform precise detection and deal with the complexity of the household application. Finally, with the test results, this paper further proves that the method is feasible and can be used in actual situations.

A simplified retrofitting method based on seismic damage of a SDOF system equivalent to a damped braced building

A new Displacement-Based Design (DBD) procedure to proportion hysteretic damped braces (HYDBs) is proposed in order to take into account the effects of the seismic degradation of a structure that needs to be retrofitted. To this end, a hysteretic model based on plastic and damage mechanisms is adopted to describe the inelastic response of reinforced concrete (r.c.) frame members. Then, nonlinear seismic analysis of a single-degree-of-freedom system, equivalent to a multi-degree-of-freedom model of the structure, is used to generate the capacity boundary curve by means of the hysteretic model defined starting from the initial backbone curve. Two-, four- and eight-storey r.c. framed structures are designed for a medium-risk seismic zone of a former Italian code. These are then to be retrofitted by inserting HYDBs to attain performance levels imposed by current Italian code in a high-risk seismic zone. Different retrofitting solutions are compared, considering for each retrofitted structure: (i) variable damper ductility coupled with constant frame ductility; (ii) variable frame ductility coupled with constant damper ductility. The effects of different damage levels and different damage evolution laws are also investigated. Finally, pushover curves of the unbraced and damped braced structures are carried out, with and without considering degradation of the hysteretic response of r.c. frame members on the DBD procedure of the HYDBs.

On the Minimum Perceptual Temporal Video Sampling Rate and Its Application to Adaptive Frame Skipping

Media technology, in particular video recording and playback, keeps improving to provide users with high-quality real and virtual visual content. In recent years, increasing the temporal sampling rate of videos and the refresh rate of displays has become one focus of technical innovation. This raises the question, how high the sampling and refresh rates should be? To answer this question, we determine the minimum temporal sampling rate at which a video should be presented to make temporal sampling imperceptible to viewers. Through a psychophysical study, we find that this minimum sampling rate depends on both the speed of the objects in the image plane and the exposure time of the recording camera. We propose a model to compute the required minimum sampling rate based on these two parameters. In addition, state-of-the-art video codecs employ motion vectors from which the local object movement speed can be inferred. Therefore, we present a procedure to compute the minimum sampling rate given an encoded video and camera exposure time. Since the object motion speed in a video may vary, the corresponding minimum frame rate is also varying. This is why the results of this paper are particularly applicable when used together with adaptive frame rate computer generated graphics or novel video communication solutions that drop insignificant frames. In our experiments, we show that videos played back at the minimum adaptive frame rate achieve an average bit rate reduction of 26% compared to constant frame rate playback, while perceptually no difference can be observed.

DMS-SLAM: A General Visual SLAM System for Dynamic Scenes with Multiple Sensors.

Presently, although many impressed SLAM systems have achieved exceptional accuracy in a real environment, most of them are verified in the static environment. However, for mobile robots and autonomous driving, the dynamic objects in the scene can result in tracking failure or large deviation during pose estimation. In this paper, a general visual SLAM system for dynamic scenes with multiple sensors called DMS-SLAM is proposed. First, the combination of GMS and sliding window is used to achieve the initialization of the system, which can eliminate the influence of dynamic objects and construct a static initialization 3D map. Then, the corresponding 3D points of the current frame in the local map are obtained by reprojection. These points are combined with the constant speed model or reference frame model to achieve the position estimation of the current frame and the update of the 3D map points in the local map. Finally, the keyframes selected by the tracking module are combined with the GMS feature matching algorithm to add static 3D map points to the local map. DMS-SLAM implements pose tracking, closed-loop detection and relocalization based on static 3D map points of the local map and supports monocular, stereo and RGB-D visual sensors in dynamic scenes. Exhaustive evaluation in public TUM and KITTI datasets demonstrates that DMS-SLAM outperforms state-of-the-art visual SLAM systems in accuracy and speed in dynamic scenes.

Comparing internet and face-to-face surveys as methods for eliciting preferences for social care-related quality of life: evidence from England using the ASCOT service user measure

PurposeTraditionally, researchers have relied on eliciting preferences through face-to-face interviews. Recently, there has been a shift towards using internet-based methods. Different methods of data collection may be a source of variation in the results. In this study, we compare the preferences for the Adult Social Care Outcomes Toolkit (ASCOT) service user measure elicited using best–worst scaling (BWS) via a face-to-face interview and an online survey.MethodsData were collected from a representative sample of the general population in England. The respondents (face-to-face: n = 500; online: n = 1001) completed a survey, which included the BWS experiment involving the ASCOT measure. Each respondent received eight best–worst scenarios and made four choices (best, second best, worst, second worst) in each scenario. Multinomial logit regressions were undertaken to analyse the data taking into account differences in the characteristics of the two samples and the repeated nature of the data.ResultsWe initially found a number of small significant differences in preferences between the two methods across all ASCOT domains. These differences were substantially reduced—from 15 to 5 out of 30 coefficients being different at the 5% level—and remained small in value after controlling for differences in observable and unobservable characteristics of the two samples.ConclusionsThis comparison demonstrates that face-to-face and internet surveys may lead to fairly similar preferences for social care-related quality of life when differences in sample characteristics are controlled for. With or without a constant sampling frame, studies should carefully design the BWS exercise and provide similar levels of clarification to participants in each survey to minimise the amount of error variance in the choice process.

The cosmological constant problem and quantum spacetime reference frame

We generalize the idea of quantum clock time to quantum spacetime reference frame via physical realization of a reference system by quantum rulers and clocks. Omitting the internal degrees of freedom (such as spins) of the physical rulers and clocks, only considering their metric properties, the spacetime reference frame is described by a bosonic nonlinear sigma model (NLSM). We study the quantum behavior of the system under approximations, and obtain (1) a cosmological constant valued [Formula: see text] ([Formula: see text] the critical density at near current epoch) which is very close to the observations; (2) an effective Einstein–Hilbert term; (3) the ratio of variance to mean-squared of spacetime interval tends to a universal constant [Formula: see text] in the infrared region. This effect is testable by observing a linear dependence between the inherent quantum variance and mean-squared of the redshifts from cosmic distant spectral lines. The proportionality is expected to be the observed percentage of the dark energy. The equivalence principle is also generalized to the quantum level.

Excess area dependent scaling behavior of nano-sized membrane tethers

Thermal fluctuations in cell membranes manifest as an excess area () which governs a multitude of physical process at the sub-micron scale. We present a theoretical framework, based on an in silico tether pulling method, which may be used to reliably estimate in live cells. We perform our simulations in two different thermodynamic ensembles: (i) the constant projected area and (ii) the constant frame tension ensembles and show the equivalence of our results in the two. The tether forces estimated from our simulations compare well with our experimental measurements for tethers extracted from ruptured GUVs and HeLa cells. We demonstrate the significance and validity of our method by showing that all our calculations performed in the initial tether formation regime (i.e. when the length of the tether is comparable to its radius) along with experiments of tether extraction in 15 different cell types collapse onto two unified scaling relationships mapping tether force, tether radius, bending stiffness κ, and membrane tension σ. We show that is an important determinant of the radius of the extracted tether, which is equal to the characteristic length for , and is equal to for . We also find that the estimated excess area follows a linear scaling behavior that only depends on the true value of for the membrane, based on which we propose a self-consistent technique to estimate the range of excess membrane areas in a cell.

Performance of the Lancelot Beam Position Monitor at the Diamond Light Source

The Lancelot beam position and profile monitor records the scattered radiation off a thin, low-density foil, which passes through a pinhole perpendicular to the path of the beam and is detected by a Medipix3RX sensor. This arrangement does not expose the detector to the direct beam at synchrotrons and results in a negligible drop in flux downstream of the module. It allows for magnified images of the beam to be acquired in real time with high signal-to-noise ratios, enabling measurements of tiny displacements in the position of the centroid of approximately 1 μm. It also provides a means for independently measuring the photon energy of the incident monoenergetic photon beam. A constant frame rate of up to 245 Hz is achieved. The results of measurements with two Lancelot detectors installed in different environments at the Diamond Light Source are presented and their performance is discussed.