Position Map Research Articles

Motion planning for an unmanned surface vehicle based on topological position maps

This paper investigates the motion-planning problem for an unmanned surface vehicle (USV), in which the goal is to find the shortest search time, the shortest path in navigational waters, all subject to collision avoidance and USV dynamics constraints. A new motion-planning method is proposed, based on topological position relationships (TPR), to achieve this solution. Firstly, the TPR of the obstacles and the USV are constructed, based on the spatial distribution of the obstacles. This gives an overall topological navigation map, which is different from the usual grid-based map. Secondly, a numerical model of unit decomposition is built to constrain the dynamics of the USV, so that the motion of the USV better fits the exact situation. Motion planning in this study is achieved by combining the topological navigation map and a numerical model of the USV. Finally, Numerical simulations and field tests verify the effectiveness of our formulated model and proposed algorithm.

Structure of the Singular Manifold of Protein Backbone and Its Applications

This paper aims to study the structure of the singular manifold of a fragment of protein backbone using the method of robot kinematics. By modeling chemical bonds as rigid links, and torsional motion around chemical bonds as revolute joints, a fragment of protein backbone turns into a kinematic linkage. The singular manifold of the forward kinematic map of this linkage contains important information about the structure of its inverse kinematics map, and the results also apply to the study of the conformation space of protein loops. By splitting the forward kinematic map into an orientation and position map, we derive equations of the singular manifolds for both maps and analyze their geometric and combinatorial structures. We discuss the application of singular manifolds in several problems of computational biology, including minimal parametrization of protein conformation space and conformation space sampling of protein loops.

물리 기반 쉐이딩을 바탕으로 하는 텍스처링에 관한 연구

급속히 변화를 거듭하는 미디어의 환경 속에서 컴퓨터그래픽은 자신의 영역을 빠르게 확장해 나아가고 있다. 이러한 미디어의 환경 속에서 텍스처링은 컴퓨터그래픽의 핵심적인 역할을 담당한다. 지금까지 컴퓨터그래픽의 주된 목적이 실재 세계의 재현이라고 보았을 때 컴퓨터그래픽 제작의 한 과정인 텍스처링 또한 기술적 발전의 도움으로 컴퓨터그래픽과 함께 발맞춰 나아가고 있다. 텍스처링은 모델링 된 오브젝트의 표면에 대해 육안으로 보이는 모습의 특성을 결정해주는 단계이다. 본 연구는 텍스처링이 컴퓨터그래픽의 기존 텍스처링의 개념을 넘어서는 물리 기반 쉐이딩을 바탕으로 하는 텍스처링에 관하여 연구하였다.BR 물리 기반 쉐이딩(Physically Based Shading)은 컴퓨터그래픽을 좀 더 사실적으로 표현하는데 중요한 역할을 담당하고 있다. 이러한 물리 기반 쉐이딩을 바탕으로 텍스처링은 아티스트가 일일이 직감적으로 텍스처를 만들어가는 기존의 방식에서 새로운 방식의 다양한 맵을 바탕으로 물리적으로 좀 더 정확한 텍스처를 만들어가는 방식으로 변화하고 있다. 물리 기반 렌더링을 바탕으로 하는 텍스처링에서 금속성(Metallic)와 거칠기(Roughness) 채널은 중요한 요소이기에 물리 기반 쉐이더에서 핵심적 위치를 차지하고 있다. 텍스처링을 위해서는 다양한 맵들이 필요한데 대표적으로 노말 맵(Normal Map), 앰비언트 오크루전 맵(Ambient Occlusion), 커버처 맵(Curvature Map), 시크니스 맵(Thickness Map) 그리고 포지션 맵(Position Map) 등이 있다. 이렇게 다양한 맵들을 활용하여 물리 기반 방식을 바탕으로 좀 더 정확하고 쉽게 텍스처링을 할 수 있다.

Electronic Module Design and Development: An Interactive Learning

The general objective of this research is to introduce a product in the form of interactive electronic modules that provide many features and flexibility in their use. The specific objectives are to design products and conduct feasibility tests involving media experts. This study uses the Borg & Gall development procedure. Following the model, several steps are adapted as the direction of development of the product to be generated, namely as follows: (1) needs analysis, (2) manufacturing of products, (3) validation, and (4) final products. The scope of this study is a lecturer who is an expert in aspects of learning media. Data obtained using a questionnaire and analyzed using quantitative descriptive analysis techniques. The results of this study generally produce a module design consisting of a cover, preface, table of contents, module position map on learning, glossary, learning introduction, learning, evaluation, and closing. The learning material has several features, such as animation, links, text, audio, images, videos, and quizzes. To complete and assist the learning process. As well as other supporting features to help facilitate navigation in the form of buttons namely: thumbnails, go to the page, zoom, bookmarks, sound controller, search, print, share by email, share by social media, back to home screen, auto flip, select text, about, and help. Other findings, according to media experts, indicate that this product is in the excellent category based on the results of the feasibility test, obtaining a percentage of 93.4%.

Measurement of Period Length and Skew Angle Patterns of Textile Cutting Pieces Based on Faster R-CNN

The skew angle and period length of the multi-period pattern are two critical parameters for evaluating the quality of textile cutting pieces. In this paper, a new measurement method of the skew angle and period length is proposed based on Faster region convolutional neural network (R-CNN). First, a dataset containing approximately 5000 unique pattern images was established and annotated in the format of PASCAL VOC 2007. Second, the Faster R-CNN model was used to detect the pattern to determine the approximate location of the pattern (the position of the whole pattern). Third, precise position of the pattern (geometric center points of pattern) are processed based on the approximate position results using the automatic threshold segmentation method. Finally, the four-neighbor method was used to fill the missing center points to obtain a complete center point map, and the skew angle and period length can be measured by the detected center points. The experimental results show that the mean average position (mAP) of the pattern detection reached 84%, the average error of the proposed algorithm was less than 5% compared with the error of the manual measurement.

Introduction to Simultaneous Localization and Mapping

Simultaneous localization and mapping (SLAM) forms the core of the technology that supports mobile robots. With SLAM, when a robot is moving in an actual environment, real world information is imported to a computer on the robot via a sensor, and robot’s physical location and a map of its surrounding environment of the robot are created. SLAM is a major topic in mobile robot research. Although the information, supported by a mathematical description, is derived from a space in reality, it is formulated based on a probability theory when being handled. Therefore, this concept contributes not only to the research and development concerning mobile robots, but also to the training of mathematics and computer implementation, aimed mainly at position estimation and map creation for the mobile robots. This article focuses on the SLAM technology, including a brief overview of its history, insights from the author, and, finally, introduction of a specific example that the author was involved.

Ethnic-confessional cyclicality and continuity in the Petroșani Depression in the period: 1850–2011

The aim of the study is to comprise in one work the cyclicality and ethnic and religious continuity of the Petroşani Depression between 1850-2011. In the second half of the 19th century, the depression was subjected to cycles of colonization that had consequences for the ethnic and religious structure. The ethnic and religious continuity was preserved throughout this period, even though after 1930, some of the settlers remigrated to their birthplace. Compared to the late 19-century censuses, the herds have fallen to 2011, but none of the ethnics and confessions have completely disappeared. The statistical data used were taken from the literature mentioned during the work and on the online platform of the National Institute of Statistics. The geographic information systems were used to achieve the geographical position map at the county and national level of the Petroşani Depression.

Shortcut-Upsampling Block for 3D Face Reconstruction and Dense Alignment via Position Map

Joint 3D face reconstruction and dense alignment based on a single image has always been a challenge in computer vision. Recently, some work achieves these two goals simultaneously by adopting the position map to represent a 3D face. In this paper, we design a novel upsampling block, denoted as shortcut-upsampling block, to construct the position map. We first utilize the residual blocks to extract and downsample the feature maps from the 2D face image, and then utilize the proposed shortcut-upsampling blocks to convert the feature maps to the corresponding position map. Shortcut-upsampling block allows our model to be only 121M and achieve excellent performance on 3D face reconstruction and dense alignment. Compared with other deep learning methods based on 3D Morphable Model(3DMM), our model is the fastest when reconstructing a 3D face. In addition, through introducing a dynamic weight loss function, our model can converge the loss to a lower value and obtain a better performance on 3D face reconstruction.

Smart Logistics Framework: A Case Study of Phuket RO Water System

The product transportation is an important procedure in businesses, which consumes costs and times. Effective transportation management can reduce expenses significantly. New technologies such as Global Position System (GPS), maps, notification and network connection can be integrated all together in one small smart phone that provides accessing from anytime and anywhere. In this paper, we propose a smart logistics framework that combines different technologies in order to solve management and tracking issues in a real transportation environment.

A magyar top cégek a turizmusban, avagy egy sikerre éhes ágazat pénzügyi diagnózisa

We look at the economic sector that today has been achieved sales of over HUF 1,000 billion. We focus on the content of financial audit. Integrated and intelligent benefit management, growth indicators, non-systematic and specific risk management are of particular importance today. The purpose of the study is to make a financial diagnosis. The subject of the study: is the ’accommodation and catering’ sector, which includes the top Hungarian companies. Applied methodology: case- and database analysis with FINel Diagnostic and Value Creation System and EkoWIN Financial Analyzer, Forecasting and Company Valuation Computer Expert System. Investigaterd database: is a filtered sectoral sample of the Hungarian top 500 and the county’s top 1000 companies, which includes balance sheet and profit and loss accounts. The results of the study may help work financial decisions makers for planning, management, monitoring and controlling. The study question: Is the examined company or sector profitable, while it is solvency, non-indebted, perspective efficient asset management? How did the market position map change as a function of profitability and risk mix? In the framework of the diagnostic preparation resulting from the financial analysis, one can infer the growth prospects, financial chances and financing of the tourism sector. The results of our study can help financial managers to plan, manage and control, especially the IGR and SGR growth rates by knowing SNR, asset financing adequacy and liquidity management.

PENATAAN MANAJEMEN SUMBER DAYA MANUSIA APARATUR DI KABUPATEN SUMEDANG PROVINSI JAWA BARAT

ABSTRACT
 This study focuses on aspects of human resource management of apparatus in Sumedang District. The aspects in question are (1) Job Analysis; (2) Needs Planning; and (3) Selection of Employee Candidates. The study was conducted in the Sumedang District Government. This study uses qualitative methods with descriptive approach. In connection with this study focused on local government public organizations, the general concept of staffing functions in human resource management, the researchers used the concept proposed by Dessler. The conclusions of this study include: 1) From the final results of Anjab carried out, information on the position and position map was obtained, even though in the real conditions the implementation of Anjab had not been carried out on the regional apparatus formed. 2) Planning the needs of employees and recruitment of prospective employees in Sumedang District which is carried out based on the results of Anjab with stages in: Analysis of employee needs carried out include: 1) Type of work, 2) Nature of work, 3) Analysis of workload and estimated number of civil servants in the period of time certain, 4) Principles of carrying out work, 5) Equipment available; and 6) Formulation of employee competency formation; 3) The stages of the implementation of the prospective employee selection (CPNS) in 2013 carried out covering 3 (three) stages to be followed, by the selection participants, namely: 1) Administrative Selection, 2) Basic Competency Selection, and 3) Field Competency Selection.
 Keywords: management arrangement, human resource management, local government

HOW TO WIN INDONESIAN MOVIE VIEWERS: CASE OF VILLAGE CINEMA AUSTRALIA

Australia and Indonesia have a close relationship in many busineses areas including entertainment. This paper focuses on how Australia’s Giant Cinema expands its business into Indonesia. Since many Indonesians stayed in Australia and experience directly Australian products and services, they are aware that Australian products had a high quality. Fortunately, vice versa, Australians are quite familiar with Indonesian culture. This is an opportunity for Village Cinema to enter Indonesian Market. This paper will start with market segmentation and Village cinema’s target customers; furthermore it draws Village’s position map comparing to its competitors in Indonesian market. Not to mention that Indonesian Cineplex has been quite established in many Indonesian primary cities with XX1, 21 Cineplex and CGV formerly Blitz Megaplex lead the market share accordingly. However, there were some marketing strategies Village Cinema should choose, including product, price, promotion and distribution strategy. There is a chance for Village cinemas to be a multinational cinema company player in Indonesia.

Geomorphometric segmentation of complex slope elements for detailed digital soil mapping in southeast Brazil

Hillslope elements have considerable potential in predicting soil properties and types in the landscape, making them likely to be a useful basis for detailed soil mapping. The goal of this research was to apply a previously developed digital hillslope position (DHP) model, calibrate it as needed to a Brazilian landscape, and test its utility as a basis for identification of detailed soil map units. The study area covers 2500 ha and is located on the border between the municipalities of Piracicaba and Santa Bárbara d'Oeste, São Paulo state, Brazil. A digital elevation model, with spatial resolution of 5 m, was used to obtain slope gradient, profile curvature and relative elevation with different analysis scales. Hierarchical rules for these digital terrain derivatives were used to segment the landscape into hillslope positions. The user-calibrated hillslope position model was verified against local experience by identifying the hillslope position in the field and comparing it with the model classification using the Kappa statistic and a confusion matrix. Soil samples were collected across multiple hillslopes with different lithologies. The samples were analyzed for chemical composition and soil particle size separates. The measured soil properties were assessed for statistical significance by variance analysis among hillslope position, parent material, and the interaction between the two. Student's t-tests were performed iteratively across each hillslope position within a given parent material to identify specifically which soil properties were significantly different among the hillslope position map units. Variance analysis of soil samples located within the respective parent material map units identified significant differences for all soil properties measured, but only for some soil properties when categorized by DHP. Focusing on the parent material with a sufficient quantity of samples, there was always at least one hillslope position that was significantly different from the others for each soil property. Because each of these map units presented a significant difference in at least one soil property, they are useful for detailed soil mapping.

Mechanochemical Reinforcement of Graphene Sheets into Alkyd Resin Matrix for the Development of Electrically Conductive Paints

AbstractIn this work, we are reporting the preparation of graphene‐based conductive paints using mechanochemically prepared graphene nanosheets as a conductive pigment and alkyd resin as the binder with non‐toxic additives. The surface morphology and intermolecular interactions between the graphene pigments and alkyd resin in the prepared graphene nanopaint are studied using field emission scanning electron microscope, X‐ray photoelectron spectroscopy, and Raman spectroscopic analysis, respectively. The formation of percolation pathways owing to the interconnected graphene sheets in the paint matrix resulted in an excellent conductive behavior of the as‐prepared graphene paint, thus ensuring its applications in conductive paint technology. Furthermore, Raman mapping analysis (including intensity maps and peak position maps) was used to understand the spatial distribution of graphene sheets in the alkyd resin matrix of the paint.

Simultaneous Localization and Mapping of Mobile Robot Based on Improved RBPF

The traditional SLAM based on RBPF has the problem of constructing high-precision map which requires large amounts of particles to make the calculation complexity and the phenomenon of particle depletion caused by particle degradation. Aiming at these problems, an improved RBPF particle filter based on adaptive bacterial foraging optimization algorithm and adaptive resampling is proposed for mobile robot SLAM problem. Firstly, the introduction of adaptive bacterial foraging algorithm to RBPF making the distribution of particles before resampling closer to the real situation. Then use the adaptive resampling method makes the newly generated particles closer to the real movement, thereby increasing the robot position estimation accuracy and map creation accuracy. The experimental results show that this method can improve the practicability of the system, reduce the computational complexity, improve the operation speed and get more effective particles while guaranteeing the accuracy of the grid map.

Crystal identification for a dual-layer-offset LYSO based PET system via Lu-176 background radiation and mean shift algorithm

Modern positron emission tomography (PET) detectors are made from pixelated scintillation crystal arrays and readout by Anger logic. The interaction position of the gamma-ray should be assigned to a crystal using a crystal position map or look-up table. Crystal identification is a critical procedure for pixelated PET systems. In this paper, we propose a novel crystal identification method for a dual-layer-offset LYSO based animal PET system via Lu-176 background radiation and mean shift algorithm. Single photon event data of the Lu-176 background radiation are acquired in list-mode for 3 h to generate a single photon flood map (SPFM). Coincidence events are obtained from the same data using time information to generate a coincidence flood map (CFM). The CFM is used to identify the peaks of the inner layer using the mean shift algorithm. The response of the inner layer is deducted from the SPFM by subtracting CFM. Then, the peaks of the outer layer are also identified using the mean shift algorithm. The automatically identified peaks are manually inspected by a graphical user interface program. Finally, a crystal position map is generated using a distance criterion based on these peaks. The proposed method is verified on the animal PET system with 48 detector blocks on a laptop with an Intel i7-5500U processor. The total runtime for whole system peak identification is 67.9 s. Results show that the automatic crystal identification has 99.98% and 99.09% accuracy for the peaks of the inner and outer layers of the whole system respectively. In conclusion, the proposed method is suitable for the dual-layer-offset lutetium based PET system to perform crystal identification instead of external radiation sources.

Comparative studies of discrete cosine transform and lifting wavelet transform techniques for compression of blood pressure signal in salt sensitive Dahl rat

This paper introduces a study based on quality controlled discrete cosine transform (DCT) and lifting wavelet transform (LWT) based compression method for blood pressure signal compression in salt sensitive Dahl rat. The transformed coefficients are thresholded using the bisection algorithm to match the predefined user specified percentage root mean square difference (PRD) within the tolerance. Then, the binary lookup table is made to store the position map for zero and non-zero coefficients (NZC). The NZC are quantised by Max-Lloyd quantiser followed by arithmetic coding. Lookup table is encoded by Huffman coding. The results are presented on different blood pressure signals of varying characteristic. There is no significant difference in before quantisation PRD (BPRD) and after quantisation PRD (QPRD) in various signals in both transforms. Mean compression ratio increases with an increase in user define PRD (UPRD).

Comparative studies of discrete cosine transform and lifting wavelet transform techniques for compression of blood pressure signal in salt sensitive Dahl rat

This paper introduces a study based on quality controlled discrete cosine transform (DCT) and lifting wavelet transform (LWT) based compression method for blood pressure signal compression in salt sensitive Dahl rat. The transformed coefficients are thresholded using the bisection algorithm to match the predefined user specified percentage root mean square difference (PRD) within the tolerance. Then, the binary lookup table is made to store the position map for zero and non-zero coefficients (NZC). The NZC are quantised by Max-Lloyd quantiser followed by arithmetic coding. Lookup table is encoded by Huffman coding. The results are presented on different blood pressure signals of varying characteristic. There is no significant difference in before quantisation PRD (BPRD) and after quantisation PRD (QPRD) in various signals in both transforms. Mean compression ratio increases with an increase in user define PRD (UPRD).

Development of a dual-ended readout detector with segmented crystal bars made using a subsurface laser engraving technique

Depth of interaction (DOI) information is indispensable to improving the sensitivity and spatial resolution of positron emission tomography (PET) systems, especially for small field-of-view PET such as small animal PET and human brain PET. We have already developed a series of X’tal cube detectors for isotropic spatial resolution and we obtained the best isotropic resolution of 0.77 mm for detectors with six-sided readout. However, it is still challenging to apply the detector for PET systems due to the high cost of six-sided readout electronics and carrying out segmentation of a monolithic cubic scintillator in three dimensions using the subsurface laser engraving (SSLE) technique. In this work, we propose a more practical X’tal cube with a two-sided readout detector, which is made of crystal bars segmented in the height direction only by using the SSLE technique. We developed two types of prototype detectors with a 3 mm cubic segment and a 1.5 mm cubic segment by using 3 × 3 × 20 mm3 and 1.5 × 1.5 × 20 mm3 crystal bars segmented into 7 and 13 DOI segments, respectively, using the SSLE technique. First, the performance of the detector, composed of one crystal bar with different DOI segments and two thorough silicon via (TSV) multi-pixel photon counters (MPPCs) as readout at both ends of the crystal bar, were evaluated in order to demonstrate the capability of the segmented crystal bars as a DOI detector. Then, performance evaluation was carried out for a 4 × 4 crystal array of 3 × 3 × 20 mm3 with 7 DOI segments and an 8 × 8 crystal array of 1.5 × 1.5 × 20 mm3 with 13 DOI segments. Each readout included a 4 × 4 channel of the 3 × 3 mm2 active area of the TSV MPPCs. The three-dimensional position maps of the detectors were obtained by the Anger-type calculation. All the segments in the 4 × 4 array were identified very clearly when there was air between the crystal bars, as each crystal bar was coupled to one channel of the MPPCs; however, it was necessary to optimize optical conditions between crystal bars for the 8 × 8 array because of light sharing between crystal bars coupled to one channel of the MPPCs. The optimization was performed for the 8 × 8 array by inserting reflectors fully or partially between the crystal bars and the best crystal identification performance was obtained with the partial reflectors between the crystal bars. The mean energy resolutions at the 511 keV photo peak for the 4 × 4 array with air between the crystal bars and for the 8 × 8 array with partial reflectors between the crystal bars were 10.1% ± 0.3% and 10.8% ± 0.8%, respectively. Timing resolutions of 783 ± 36 ps and 1.14 ± 0.22 ns were obtained for the detectors composed of the 4 × 4 array and the 8 × 8 array with partial reflectors, respectively. These values correspond to single photon timing resolutions. Practical X’tal cubes with 3 mm and 1.5 mm DOI resolutions and two-sided readout were developed.

Improvement of crystal identification performance for a four-layer DOI detector composed of crystals segmented by laser processing

We have developed a four-layer depth of interaction (DOI) detector with single-side photon readout, in which segmented crystals with the patterned reflector insertion are separately identified by the Anger-type calculation. Optical conditions between segmented crystals, where there is no reflector, affect crystal identification ability. Our objective of this work was to improve crystal identification performance of the four-layer DOI detector that uses crystals segmented with a recently developed laser processing technique to include laser processed boundaries (LPBs). The detector consisted of 2×2×4mm3 LYSO crystals and a 4×4 array multianode photomultiplier tube (PMT) with 4.5 mm anode pitch. The 2D position map of the detector was calculated by the Anger calculation method. At first, influence of optical condition on crystal identification was evaluated for a one-layer detector consisting of a 2×2 crystal array with three different optical conditions between the crystals: crystals stuck together using room temperature vulcanized (RTV) rubber, crystals with air coupling and segmented crystals with LPBs. The crystal array with LPBs gave the shortest distance between crystal responses in the 2D position map compared with the crystal array coupled with RTV rubber or air due to the great amount of cross-talk between segmented crystals with LPBs. These results were used to find optical conditions offering the optimum distance between crystal responses in the 2D position map for the four-layer DOI detector. Crystal identification performance for the four-layer DOI detector consisting of an 8×8 array of crystals segmented with LPBs was examined and it was not acceptable for the crystals in the first layer. The crystal identification was improved for the first layer by changing the optical conditions between all 2×2 crystal arrays of the first layer to RTV coupling. More improvement was observed by combining different optical conditions between all crystals of the first layer and some crystals of the second and the third layers of the segmented array.