Surface-type classification using RGB-D

This paper proposes an approach to improve surface-type classification of images containing inconsistently illuminated surfaces. When a mobile inspection robot is visually inspecting surface-types in a dark environment and a directional light source is used to illuminate the surfaces, the images captured may exhibit illumination variance that can be caused by the orientation and distance of the light source relative to the surfaces. In order to accurately classify the surface-types in these images, either the training image dataset needs to completely incorporate the illumination variance or a way to extract color features that can provide high classification accuracy needs to be identified. In this paper diffused reflectance values are extracted as new color features to classifying surface-types. In this approach, Red, Green, Blue-Depth (RGB-D) data is collected from the environment, and a reflectance model is used to calculate a diffused reflectance value for a pixel in each Red, Green, Blue (RGB) color channel. The diffused reflectance values can be used to train a multiclass support vector machine classifier to classify surface-types. Experiments are conducted in a mock bridge maintenance environment using a portable RGB-Depth sensor package with an attached light source to collect surface-type data. The performance of a classifier trained with diffused reflectance values is compared against classifiers trained with other color features including RGB and Lcolor spaces. Results show that the classifier trained with the diffused reflectance values can achieve consistently higher classification accuracy than the classifiers trained with RGB and Lab features. For test images containing a single surface plane, diffused reflectance values consistently provide greater than 90% classification accuracy; and for test images containing a complex scene with multiple surface-types and surface planes, diffused reflectance values are shown to provide an increase in overall accuracy over RGB and Lab by 49.24% and 13.66%, respectively. © 2013 IEEE

A slip model for micro/nano gas flows induced by body forces

A slip model for gas flows in micro/nano-channels induced by external body forces is derived based on Maxwell's collision theory between gas molecules and the wall. The model modifies the relationship between slip velocity and velocity gradient at the walls by introducing a new parameter in addition to the classic Tangential Momentum Accommodation Coefficient. Three-dimensional Molecular Dynamics simulations of helium gas flows under uniform body force field between copper flat walls with different channel height are used to validate the model and to determine this new parameter

Image segmentation for surface material-type classification using 3D geometry information

This paper describes a novel approach for the segmentation of complex images to determine candidates for accurate material-type classification. The proposed approach identifies classification candidates based on image quality calculated from viewing distance and angle information. The required viewing distance and angle information is extracted from 3D fused images constructed from laser range data and image data. This approach sees application in material-type classification of images captured with varying degrees of image quality attributed to geometric uncertainty of the environment typical for autonomous robotic exploration. The proposed segmentation approach is demonstrated on an autonomous bridge maintenance system and validated using gray level co-occurrence matrix (GLCM) features combined with a naive Bayes classifier. Experimental results demonstrate the effects of viewing distance and angle on classification accuracy and the benefits of segmenting images using 3D geometry information to identify candidates for accurate material-type classification. ©2010 IEEE

Demonstration of single-shot picosecond time-resolved MeV electron imaging using a compact permanent magnet quadrupole based lens

We present the results of an experiment where a short focal length (~ 1.3 cm) permanent magnet electron lens is used to image micron-size features of a metal sample in a single shot, using an ultra- high brightness ps-long 4 MeV electron beam from a radiofrequency photoinjector. Magnifcation ratios in excess of 30x were obtained using a triplet of compact, small gap (3.5 mm), Halbach-style permanent magnet quadrupoles with nearly 600 T/m field gradients. These results pave the way to- wards single shot time-resolved electron microscopy and open new opportunities in the applications of high brightness electron beams.Comment: 5 pages, 6 figure

The volatility structure of the fixed income market under the HJM framework: A nonlinear filtering approach

ABSTRACT. This paper considers the dynamics for interest rate processes within a multi-factor Heath, Jarrow and Morton (1992) specification. Despite the flexibility of and the notable advances in theoretical research about the HJM models, the number of empirical studies is still inadequate. This paucity is principally because of the difficulties in estimating models in this class, which are not only high-dimensional, but also nonlinear and involve latent state variables. This paper treats the estimation of a fairly broad class of HJM models as a nonlinear filtering problem, and adopts the local linearization filter of Jimenez and Ozaki (2003), which is known to have some desirable statistical and numerical features, to estimate the model via the maximum likelihood method. The estimator is then applied to the interbank offered-rates of the U.S, U.K, Australian and Japanese markets. The two-factor model, with the factors being the level and the slope effect, is found to be a reasonable choice for all of the markets. However, the contribution of each factor towards overall variability of the interest rates and the financial reward each factor claims differ considerably from one market to another

Existence of maximal hypersurfaces in some spherically symmetric spacetimes

We prove that the maximal development of any spherically symmetric spacetime with collisionless matter (obeying the Vlasov equation) or a massless scalar field (obeying the massless wave equation) and possessing a constant mean curvature $S^1 \times S^2$ Cauchy surface also contains a maximal Cauchy surface. Combining this with previous results establishes that the spacetime can be foliated by constant mean curvature Cauchy surfaces with the mean curvature taking on all real values, thereby showing that these spacetimes satisfy the closed-universe recollapse conjecture. A key element of the proof, of interest in itself, is a bound for the volume of any Cauchy surface $\Sigma$ in any spacetime satisfying the timelike convergence condition in terms of the volume and mean curvature of a fixed Cauchy surface $\Sigma_0$ and the maximal distance between $\Sigma$ and $\Sigma_0$. In particular, this shows that any globally hyperbolic spacetime having a finite lifetime and obeying the timelike-convergence condition cannot attain an arbitrarily large spatial volume.Comment: 8 pages, REVTeX 3.

Liquid oxygen/liquid hydrogen boost/vane pump for the advanced orbit transfer vehicles auxiliary propulsion system

A rotating, positive displacement vane pump with an integral boost stage was designed to pump saturated liquid oxygen and liquid hydrogen for auxiliary propulsion system of orbit transfer vehicle. This unit is designed to ingest 10% vapor by volume, contamination free liquid oxygen and liquid hydrogen. The final pump configuration and the predicted performance are included

Evidence-based policy on dietary calcium and vitamin D

Copyright © 2011 American Society for Bone and Mineral Research.Peer reviewedPostprin