The Detection of Obstacles Using Features by the Horizon View Camera
|
|
- James Price
- 7 years ago
- Views:
Transcription
1 The Detection of Obstacles Using Featues b the Hoizon View Camea Aami Iwata, Kunihito Kato, Kazuhiko Yamamoto Depatment of Infomation Science, Facult of Engineeing, Gifu Univesit aa@am.info.gifu-u.ac.jp Abstact In this pape, we popose a new camea sstem called Hoizon View Camea (HVC). The HVC is a sstem in which the optical ais of a camea is diected at the hoizon with a mio so that obtained image contains objects on the gound without including the gound itself. Theefoe, b using the HVC sstem, sepaating objects fom the gound becomes ve eas. In this pape, we measued the distance to the object b using the obtained image actuall and easil. Moeove, thee ae man othe useful featues in the HVC sstem. In ode to impove the pocessing cost and accuac, we popose a new idea wheeb the detection of objects becomes easie and the esults ae moe accuate b the epeiment. 1 Intoduction Nowadas, man eseaches of autonomous obots has been poposed. Accoding to eseaches, the visual infomation fom a camea is useful fo an autonomous obot because the autonomous obot has to ecognize suounding scene using the visual infomation [1]. Fo eample, when the obot moves, the obot has to ecognize objects such as obstacles that limit action. In methods of detecting objects, a single camea o a steeo camea is usuall used. Howeve, these methods have some poblems. In the case of using the steeo camea, two o moe cameas ae needed which inceases the cost. Also the pocessing tends to compleif [2][3]. On the othe hand, in the case of using the single camea, while cost becomes low because onl one camea is needed, it is necessa to keep the camea at a highe position in ode to acquie highe accuac [4]. Theefoe, the height of the sstem becomes inevitabilit tall. So, we popose a new camea sstem called the Hoizon View Camea (HVC) fo constucting a small size obot [5]. 2 HVC Sstem 2.1 Outline of the HVC Sstem In the case of using a single camea, it is necessa to keep the camea at a highe position in ode to acquie highe accuac, but this stateg has the poblem that the sstem becomes tall. To emed this, we came acoss a diffeent viewpoint to this method. Ou new idea is to keeping the camea at a low position, i.e., the camea is put on the gound. B this method, the obtained image contains onl suounding objects without the gound because the sstem position is too low. Fo this pape, theefoe, the camea was put on the gound, and the sstem was made so that the optical ais of the camea was diected to the hoizon. This sstem is named the Hoizon View Camea (HVC). The obtained image b the HVC sstem contains objects on the gound without including the gound itself. Theefoe, the HVC sstem has advantages that sepaating objects fom the gound becomes ve eas, and the calculation time fo that can be educed. B moving fowad, the HVC sstem can easil measue the distance to an object. We tied to make the HVC sstem, but we have to bu half of the camea in the gound to make the optical ais of the camea diect to the hoizon, an impossibilit in actual Camea 2θ θ Cente of optical ais Mio Figue 1: HVC sstem
2 applications. Theefoe, the optical ais of a camea was diected to the hoizon b using a mio. The HVC sstem is shown in figue 1. The image obtained b this sstem is sepaated hoizontall into two pats; the uppe half of the image is the image eflected b the mio, and the lowe half of the image is the diect image in font of the sstem. An eample is shown in figue 2, and figue 3 shows a sequence of a peson walking font of the HVC of an animation which was ecoded b the HVC. 2.2 Featue of the HVC Sstem In this sstem, eve object in the image is consideed an obstacle, because the gound is not included in the uppe half of the image. Theefoe, the distance to the object is measued with the eflected image onl b moving the HVC, without detection of the object. The images obtained b the HVC sstem have a featue that its emission point of the optical flow which is fomed b the movement of the sstem is located on the hoizon of the image. Moeove, when the HVC sstem moves fowad, the emission point eists at the cente of the hoizon. The optical flow of a standstill object flows adiall fom the emission point to outside. Figue 4 shows the optical flow of the HVC sstem. If the optical flow does not flow fom the emission point, that pat of the image can be ecognized as a moving object. The geneal sstems of the single camea with a mio ae poposed. These sstems ae intended to obtain steeo images b the single camea eclusivel [6]. But in the case of the HVC sstem using the mio, this sstem is not intended to obtain steeo images b the single camea as usual although two kinds of the obtained image. The HVC sstem is intended to be able to detect objects of the font of this sstem easil based on the new idea. Moeove, when the HVC sstem moves fowad, this sstem can measue the distance to objects using one kind of the obtained image. The HVC also has a featue that the image of the object in the cente of the optical ais does not move when the HVC moves fowad. Image b eflection of the mio Hoizon Diect image in font of the sstem Emission point Figue 2: Obtained image of the HVC (32 24 piels) Figue 4: Optical flow of the HVC Figue 3: The animation fom the HVC
3 3 Measuing the Distance to Objects We used the optical flow fo measuing the distance to an object in the image [7]. When the camea is moved fowad, objects close to the camea move moe than those fathe awa in the image. Moeove, the distance of the movement also diffes b the distance between the object and the cente of the optical ais. If the object is located fa fom the cente of the optical ais, it moves moe than if the object is located nea the cente of the optical ais. B using this diffeence, the movement vecto of the object in the image befoe and afte the camea's movement can be calculated. The distance can then be measued b the diection and the size of each movement vecto to the object. Fo this pape, we used template matching to detect the optical flow [8]. So, the distance to the object is measued b the optical flow. The distance to the object is calculated b the tiangulation, because the angle fom the camea to each piel of the image is constant, and the distance of the camea movement is known. To measue the distance fom the camea to the object, we have to know the camea paamete, the angle coesponding to each piel. The calculation fo the camea used hee is pesented. In the place of locating S fom the camea, the image was h high b w wide as shown in figue 5. The value of θ that is the angle of each piel fom the camea is decided b using these values. J P(I, J) p(, ) I θ Scm Image Real coodinates Figue 6: The angle of each piel I J tan θ = (2) S Figue 7 shows the method of calculating the distance. The value of θ 1, θ 2 fo each piel and d ae known. Using the value of θ 1, θ 2 calculated fo each piel, the distance to the object is calculated b eq.(3), whee d is the distance the camea moved, and D is the distance to the object. θ 2 θ 1 Camea movement Cente of image Hoizon h w D Figue 7: Measuement of the distance to the d Image fom camea S d tan θ tan θ tan θ 1 D = (3) Impovement of the Distance Measuing Figue 5: Camea paametes In the case of a esolution of W H piels, p(, ) is calculated b eq.(1) to give P(I, J), since the cente of the hoizon is at the oigin, W w H P ( I, J ) = p(( ), ( ) 2 W 2 (=~W, =~H/2) The obtained P(I, J) is an actual position S fom the camea. Figue 6 shows how to calculate the angle of each piel in the image. Theefoe, the angle of each piel fom the camea is calculated b eq.(2). h H ) (1) In ode to impove the computation cost and accuac, a new idea was intoduced using the popet of HVC sstem. When an uppe image fom the HVC was tansfomed to the log-pola coodinates [9][1], the popet appeas with eas and effective image pocession. As noted peviousl, when the HVC sstem moves fowad, the optical flow flows fom the cente of the hoizon. So tansfomed image to the log-pola coodinates, the optical flow flows upwad. Using this popet, we think that the optical flow can be detected moe coectl and the accuac of the distance calculation can be impoved. Also, if the optical flow does not flow upwad, the object of that image can be ecognized as a moving object like the optical flow of the oiginal image. Figue 8
4 shows the tansfomation to the log-pola coodinate. Also we tansfom to its log-pola countepat b eq.(4). B using geneal equation of the log-pola tansfom, objects distant fom the cente of the hoizon ae tansfomed to a small size. Theefoe, when we detect the optical flow, the accuac of the distance measued becomes low because the size of each vecto is small. Theefoe, in this pape, we decided eq.(4) in which the inceasing ate of log is egulated b using the value of k to detect the optical flow to be able to measue the distance with enough accuac. Figue 9 shows the uppe of the obtained image b the HVC sstem (X-Y image), and the tansfomed image to the coesponding log-pola coodinate (log-pola image). In the log-pola image, the optical flow of standing objects constantl flows upwad. B using this popet, a pocess of detecting the optical flow becomes ve eas, because the seaching aea fo the template matching is limited to a small aea, and the computation cost is educed. Figue 1 shows the optical flow of the X-Y image and the log-pola image. Also in the X-Y image as shown figue 9 (a), objects ae moving to the outside fom the cente of the hoizon. In the log-pola image as shown figue 9 (b), objects ae moving to upwad. Tansfom -π π Figue 8: Tansfom to the log-pola coodinate = log = tan e 2 2 { k + + 1} 1 (4) Fame 1 Fame 2 Fame 3 Fame 4 Fame 5 Fame 6 (a) X-Y image Fame 1 Fame 2 Fame 3 Fame 4 Fame 5 Fame 6 (b) log-pola image Figue 9: Tansfom to the log-pola image
5 X-Y image Tansfom Figue 1: Optical flow of X-Y image and log-pola image π/2 log-pola image π Moeove, b using the log-pola image, we think that optical flow can be detected moe coectl and the accuac of the distance calculation can be impoved. Because the featue of an object with staight lines o tetues which ma cause failue in the template matching is changed into comple featue, the template matching becomes easie. In ode to decide the distance, we substituted eq.(4) into eq.(1) to obtain P(I, J), and we calculated b substituting the obtained P(I, J) in eq.(2). We obtained the distance to the object D b substituting the angle of each piel in eq.(3). We can also measue the distance to the object in the log-pola image b eq.(5). In eq.(5), q( 1, 1 ) and q ( 2, 2 ) ae coodinate values of the object in the log-pola image befoe and afte movement espectivel as shown in figue 11. In the log-pola image, 1 and 2 ae constant if the HVC moves fowad, because the optical flow flows upwad diection constantl. Theefoe, 1 and 2 ae not included in eq.(5). The distance the HVC moved, d is a known value. q ( 2, 2) epeiments, we detected onl standing objects. Theefoe, the calculated optical flow in the X-Y image flows fom the cente of the hoizon to outside. The calculated optical flow in the log-pola image flows upwad. If an unepected movement vecto was obtained, it was consideed a mistake of the template matching and that movement vecto was not used to measue the distance. In this pape, templates wee made b featue points in the image, and then the camea was moved fowad. The template matching was eecuted on the image afte moving. The optical flow in the image of the object was Figue 12: Epeimental image (X-Y image) Figue 13: Epeimental image (log-pola image) π/2 log-pola image π q ( 1, 1) Figue11: Optical flow of log-pola image Figue 14: Result of the detected the optical flow (X-Y image) D 1 e 1 = d (5) 2 1 e e 5 Epeiment We constucted epeiments to compae of the accuac of measuing the distance to an object using the X-Y image and log-pola image obtained b the HVC. In these Figue 15: Result of the detected the optical flow (log-pola image)
6 calculated b the diffeence in the position of the templates. In the situation of a single backgound, we put two objects with the flat suface at the same distance. The camea was moved fowad b a constant distance each time, and an image was taken at each distance. The distance between the camea and objects changed fom 55cm to 15cm b a 1cm step. Using the obtained images, we measued the distance in the X-Y image and the log-pola image, and we obtained the accuac of the measuing the distance in each image tpe. Figue 12 shows an X-Y image, and figue 13 shows a log-pola image used in the epeiment. Figue 14 and 15 show the esult of the detected optical flow in figue 12 and 13 espectivel. Figue 16 shows one of the esults of detecting the distance using an X-Y image, and figue 17 shows one of the esults of detected the distance using a log-pola image. In the images of figues 11-16, the actual distance to objects fom the camea is 3 cm. B the epeimental esult, the aveage eo in the X-Y image was 2.93 cm, while the aveage eo b the log-pola image was 1.64 cm. The eason of this esult is that the template matching became easie b using the D Figue 16: Result of the detected the distance (X-Y image) D Figue 17: Result of the detected the distance (log-pola image) log-pola image, and the eo in the matching was educed. Theefoe, using the log-pola image, we obtained the measued distance with highe accuac. 6 Conclusion In this pape, we pesented the effectiveness of the HVC, which is constucted b a mio and a camea fo a small obot sstem. Moeove, b using the popet of the HVC like the log-pola image, the HVC can measue the distance to the object with highe accuac, and we conside that the HVC is ve useful fo the small obot sstem. In the futue, we have a plan to install the HVC in a cleaning obot. B using the lowe half of the image, the HVC can see the gound in font of it. B using the uppe half of the image, the HVC can know the obstacles aound it. Theefoe, the obot can easil find gabage and obstacles b using the obtained image. Refeence [1] K.Matsushita, K.Kato and K.Yamamoto: Development of the bid tacking sstem using intepolating backgound, Poc. of ISIRS 98, pp (1998) [2] T.Nakamua and M.Asada: Steeo Sketch: Steeo Vision-Based Taget Reaching Behavio Acquisition with Occlusion Detection and Avoidance, Poc. of IEEE Int. Conf. on Robotics and Automation, pp (1996) [3] [4] T.Takeama, S.Yamamoto, K.Matsushita, K.Kato and K.Yamamoto: The Path Planning Method Using Topologicall Connected Neual Netwok fo Event Tacking Robot Sstem, Poc. of FCV 98, pp (1998) [5] A.Iwata, K.Kato and K.Yamamoto: "The Detective of the Obstacle b Using the New Sstem Called Hoizon View Camea", Poc. of ACCV22, Vol.1, pp (22) [6] S.Kaneko and T.Honda: Calculation of Positions of Polhedal Objects Using Diect and Mio Images, Jounal of JSPE, Vol.52, No.1, pp (1986) (in Japanese) [7] G.Adiv: Deteming 3-D Motion and Stuctue fom Optical Flow Geneated b Seveal Moving Objects, IEEE, PAMI, Vol.7, No.4, pp (1985) [8] A K. Jain, Y Zhong and S.Lakshmanan: Object Matching Using Defomable Templates, IEEE, PAMI, Vol.18, No.3, pp (1996) [9] M.Tistaelli and G.Sandini, On the advantages of pola and log-pola mapping fo diect estimation of time-to-impact fom optical flow, IEEE, PAMI, Vol.15, No.4, pp (1993) [1] T.Kuita, K.Hotta and T.Mishima: Scale and Rotation Invaiant Recognition Method using Highe-Ode Local Autocoelation Featues of Log-Pola Image, Poc. of ACCV1998, Vol.2, pp (1998)
Coordinate Systems L. M. Kalnins, March 2009
Coodinate Sstems L. M. Kalnins, Mach 2009 Pupose of a Coodinate Sstem The pupose of a coodinate sstem is to uniquel detemine the position of an object o data point in space. B space we ma liteall mean
More informationThe transport performance evaluation system building of logistics enterprises
Jounal of Industial Engineeing and Management JIEM, 213 6(4): 194-114 Online ISSN: 213-953 Pint ISSN: 213-8423 http://dx.doi.og/1.3926/jiem.784 The tanspot pefomance evaluation system building of logistics
More informationCLOSE RANGE PHOTOGRAMMETRY WITH CCD CAMERAS AND MATCHING METHODS - APPLIED TO THE FRACTURE SURFACE OF AN IRON BOLT
CLOSE RANGE PHOTOGRAMMETR WITH CCD CAMERAS AND MATCHING METHODS - APPLIED TO THE FRACTURE SURFACE OF AN IRON BOLT Tim Suthau, John Moé, Albet Wieemann an Jens Fanzen Technical Univesit of Belin, Depatment
More informationSUPPORT VECTOR MACHINE FOR BANDWIDTH ANALYSIS OF SLOTTED MICROSTRIP ANTENNA
Intenational Jounal of Compute Science, Systems Engineeing and Infomation Technology, 4(), 20, pp. 67-7 SUPPORT VECTOR MACHIE FOR BADWIDTH AALYSIS OF SLOTTED MICROSTRIP ATEA Venmathi A.R. & Vanitha L.
More informationYARN PROPERTIES MEASUREMENT: AN OPTICAL APPROACH
nd INTERNATIONAL TEXTILE, CLOTHING & ESIGN CONFERENCE Magic Wold of Textiles Octobe 03 d to 06 th 004, UBROVNIK, CROATIA YARN PROPERTIES MEASUREMENT: AN OPTICAL APPROACH Jana VOBOROVA; Ashish GARG; Bohuslav
More informationEpisode 401: Newton s law of universal gravitation
Episode 401: Newton s law of univesal gavitation This episode intoduces Newton s law of univesal gavitation fo point masses, and fo spheical masses, and gets students pactising calculations of the foce
More information2 r2 θ = r2 t. (3.59) The equal area law is the statement that the term in parentheses,
3.4. KEPLER S LAWS 145 3.4 Keple s laws You ae familia with the idea that one can solve some mechanics poblems using only consevation of enegy and (linea) momentum. Thus, some of what we see as objects
More informationCarter-Penrose diagrams and black holes
Cate-Penose diagams and black holes Ewa Felinska The basic intoduction to the method of building Penose diagams has been pesented, stating with obtaining a Penose diagam fom Minkowski space. An example
More informationExperiment 6: Centripetal Force
Name Section Date Intoduction Expeiment 6: Centipetal oce This expeiment is concened with the foce necessay to keep an object moving in a constant cicula path. Accoding to Newton s fist law of motion thee
More informationGraphs of Equations. A coordinate system is a way to graphically show the relationship between 2 quantities.
Gaphs of Equations CHAT Pe-Calculus A coodinate sstem is a wa to gaphicall show the elationship between quantities. Definition: A solution of an equation in two vaiables and is an odeed pai (a, b) such
More informationReduced Pattern Training Based on Task Decomposition Using Pattern Distributor
> PNN05-P762 < Reduced Patten Taining Based on Task Decomposition Using Patten Distibuto Sheng-Uei Guan, Chunyu Bao, and TseNgee Neo Abstact Task Decomposition with Patten Distibuto (PD) is a new task
More informationSoftware Engineering and Development
I T H E A 67 Softwae Engineeing and Development SOFTWARE DEVELOPMENT PROCESS DYNAMICS MODELING AS STATE MACHINE Leonid Lyubchyk, Vasyl Soloshchuk Abstact: Softwae development pocess modeling is gaining
More information2. TRIGONOMETRIC FUNCTIONS OF GENERAL ANGLES
. TRIGONOMETRIC FUNCTIONS OF GENERAL ANGLES In ode to etend the definitions of the si tigonometic functions to geneal angles, we shall make use of the following ideas: In a Catesian coodinate sstem, an
More informationStrength Analysis and Optimization Design about the key parts of the Robot
Intenational Jounal of Reseach in Engineeing and Science (IJRES) ISSN (Online): 2320-9364, ISSN (Pint): 2320-9356 www.ijes.og Volume 3 Issue 3 ǁ Mach 2015 ǁ PP.25-29 Stength Analysis and Optimization Design
More informationGravitational Mechanics of the Mars-Phobos System: Comparing Methods of Orbital Dynamics Modeling for Exploratory Mission Planning
Gavitational Mechanics of the Mas-Phobos System: Compaing Methods of Obital Dynamics Modeling fo Exploatoy Mission Planning Alfedo C. Itualde The Pennsylvania State Univesity, Univesity Pak, PA, 6802 This
More informationMechanics 1: Work, Power and Kinetic Energy
Mechanics 1: Wok, Powe and Kinetic Eneg We fist intoduce the ideas of wok and powe. The notion of wok can be viewed as the bidge between Newton s second law, and eneg (which we have et to define and discuss).
More informationTracking/Fusion and Deghosting with Doppler Frequency from Two Passive Acoustic Sensors
Tacking/Fusion and Deghosting with Dopple Fequency fom Two Passive Acoustic Sensos Rong Yang, Gee Wah Ng DSO National Laboatoies 2 Science Pak Dive Singapoe 11823 Emails: yong@dso.og.sg, ngeewah@dso.og.sg
More informationSkills Needed for Success in Calculus 1
Skills Needed fo Success in Calculus Thee is much appehension fom students taking Calculus. It seems that fo man people, "Calculus" is snonmous with "difficult." Howeve, an teache of Calculus will tell
More informationInvestigation of advanced data processing technique in magnetic anomaly detection systems
st Intenational Confeence on Sensing Technolog Novembe -, 5 Palmeston Noth, New Zealand Investigation of advanced data pocessing technique in magnetic anomal detection sstems. Ginbug (, A. Sheinke (, L.
More informationElectricity transmission network optimization model of supply and demand the case in Taiwan electricity transmission system
Electicity tansmission netwok optimization model of supply and demand the case in Taiwan electicity tansmission system Miao-Sheng Chen a Chien-Liang Wang b,c, Sheng-Chuan Wang d,e a Taichung Banch Gaduate
More informationAutomatic Closed Caption Detection and Filtering in MPEG Videos for Video Structuring
JOURNAL OF INFORMATION SCIENCE AND ENGINEERING, 1145-116 (006) Automatic Closed Caption Detection and Filteing in MPEG Videos fo Video Stuctuing Depatment of Compute Science and Infomation Engineeing National
More informationUNIT CIRCLE TRIGONOMETRY
UNIT CIRCLE TRIGONOMETRY The Unit Cicle is the cicle centeed at the oigin with adius unit (hence, the unit cicle. The equation of this cicle is + =. A diagam of the unit cicle is shown below: + = - - -
More informationExperiment MF Magnetic Force
Expeiment MF Magnetic Foce Intoduction The magnetic foce on a cuent-caying conducto is basic to evey electic moto -- tuning the hands of electic watches and clocks, tanspoting tape in Walkmans, stating
More informationHELIOSTAT TESTING AT A NEW FACILITY IN SONORA, MEXICO
HELOSTAT TESTNG AT A NEW FACLTY N SONORA MEXCO Camilo A. Aancibia-Bulnes 12 Manuel. Peña-Cuz 1 David Maoquín-Gacía 1 Rafael E. Cabanillas 2 Calos A. Péez-Rábago 13 David Riveos-Rosas 4 Jesús F. Hinojosa
More information10. Collisions. Before During After
10. Collisions Use conseation of momentum and enegy and the cente of mass to undestand collisions between two objects. Duing a collision, two o moe objects exet a foce on one anothe fo a shot time: -F(t)
More informationAutomatic Testing of Neighbor Discovery Protocol Based on FSM and TTCN*
Automatic Testing of Neighbo Discovey Potocol Based on FSM and TTCN* Zhiliang Wang, Xia Yin, Haibin Wang, and Jianping Wu Depatment of Compute Science, Tsinghua Univesity Beijing, P. R. China, 100084 Email:
More information12. Rolling, Torque, and Angular Momentum
12. olling, Toque, and Angula Momentum 1 olling Motion: A motion that is a combination of otational and tanslational motion, e.g. a wheel olling down the oad. Will only conside olling with out slipping.
More informationInstituto Superior Técnico Av. Rovisco Pais, 1 1049-001 Lisboa E-mail: virginia.infante@ist.utl.pt
FATIGUE LIFE TIME PREDICTIO OF POAF EPSILO TB-30 AIRCRAFT - PART I: IMPLEMETATIO OF DIFERET CYCLE COUTIG METHODS TO PREDICT THE ACCUMULATED DAMAGE B. A. S. Seano 1, V. I. M.. Infante 2, B. S. D. Maado
More informationMechanics 1: Motion in a Central Force Field
Mechanics : Motion in a Cental Foce Field We now stud the popeties of a paticle of (constant) ass oving in a paticula tpe of foce field, a cental foce field. Cental foces ae ve ipotant in phsics and engineeing.
More informationEffect of Contention Window on the Performance of IEEE 802.11 WLANs
Effect of Contention Window on the Pefomance of IEEE 82.11 WLANs Yunli Chen and Dhama P. Agawal Cente fo Distibuted and Mobile Computing, Depatment of ECECS Univesity of Cincinnati, OH 45221-3 {ychen,
More informationLecture 16: Color and Intensity. and he made him a coat of many colours. Genesis 37:3
Lectue 16: Colo and Intensity and he made him a coat of many colous. Genesis 37:3 1. Intoduction To display a pictue using Compute Gaphics, we need to compute the colo and intensity of the light at each
More informationResearch on Risk Assessment of the Transformer Based on Life Cycle Cost
ntenational Jounal of Smat Gid and lean Enegy eseach on isk Assessment of the Tansfome Based on Life ycle ost Hui Zhou a, Guowei Wu a, Weiwei Pan a, Yunhe Hou b, hong Wang b * a Zhejiang Electic Powe opoation,
More informationAn Epidemic Model of Mobile Phone Virus
An Epidemic Model of Mobile Phone Vius Hui Zheng, Dong Li, Zhuo Gao 3 Netwok Reseach Cente, Tsinghua Univesity, P. R. China zh@tsinghua.edu.cn School of Compute Science and Technology, Huazhong Univesity
More informationConverting knowledge Into Practice
Conveting knowledge Into Pactice Boke Nightmae srs Tend Ride By Vladimi Ribakov Ceato of Pips Caie 20 of June 2010 2 0 1 0 C o p y i g h t s V l a d i m i R i b a k o v 1 Disclaime and Risk Wanings Tading
More informationFIRST EXPERIENCES WITH THE DEFORMATION ANALYSIS OF A LARGE DAM COMBINING LASERSCANNING AND HIGH-ACCURACY SURVEYING
FIRST EXPERIENCES WITH THE DEFORMATION ANALYSIS OF A LARGE DAM COMBINING LASERSCANNING AND HIGH-ACCURACY SURVEYING Diego González Aguilea a*, Javie Gómez Lahoz a and José Antonio Sánchez Seano b a Land
More informationON THE (Q, R) POLICY IN PRODUCTION-INVENTORY SYSTEMS
ON THE R POLICY IN PRODUCTION-INVENTORY SYSTEMS Saifallah Benjaafa and Joon-Seok Kim Depatment of Mechanical Engineeing Univesity of Minnesota Minneapolis MN 55455 Abstact We conside a poduction-inventoy
More informationMultiband Microstrip Patch Antenna for Microwave Applications
IOSR Jounal of Electonics and Communication Engineeing (IOSR-JECE) ISSN: 2278-2834, ISBN: 2278-8735. Volume 3, Issue 5 (Sep. - Oct. 2012), PP 43-48 Multiband Micostip Patch Antenna fo Micowave Applications
More informationUNIVERSIDAD DE CANTABRIA TESIS DOCTORAL
UNIVERSIDAD DE CANABRIA Depatamento de Ingenieía de Comunicaciones ESIS DOCORAL Cyogenic echnology in the Micowave Engineeing: Application to MIC and MMIC Vey Low Noise Amplifie Design Juan Luis Cano de
More informationVISCOSITY OF BIO-DIESEL FUELS
VISCOSITY OF BIO-DIESEL FUELS One of the key assumptions fo ideal gases is that the motion of a given paticle is independent of any othe paticles in the system. With this assumption in place, one can use
More informationReview Graph based Online Store Review Spammer Detection
Review Gaph based Online Stoe Review Spamme Detection Guan Wang, Sihong Xie, Bing Liu, Philip S. Yu Univesity of Illinois at Chicago Chicago, USA gwang26@uic.edu sxie6@uic.edu liub@uic.edu psyu@uic.edu
More informationPessu Behavior Analysis for Autologous Fluidations
EXPERIENCE OF USING A CFD CODE FOR ESTIMATING THE NOISE GENERATED BY GUSTS ALONG THE SUN- ROOF OF A CAR Liang S. Lai* 1, Geogi S. Djambazov 1, Choi -H. Lai 1, Koulis A. Peicleous 1, and Fédéic Magoulès
More informationVector Calculus: Are you ready? Vectors in 2D and 3D Space: Review
Vecto Calculus: Ae you eady? Vectos in D and 3D Space: Review Pupose: Make cetain that you can define, and use in context, vecto tems, concepts and fomulas listed below: Section 7.-7. find the vecto defined
More informationConcept and Experiences on using a Wiki-based System for Software-related Seminar Papers
Concept and Expeiences on using a Wiki-based System fo Softwae-elated Semina Papes Dominik Fanke and Stefan Kowalewski RWTH Aachen Univesity, 52074 Aachen, Gemany, {fanke, kowalewski}@embedded.wth-aachen.de,
More informationSTUDENT RESPONSE TO ANNUITY FORMULA DERIVATION
Page 1 STUDENT RESPONSE TO ANNUITY FORMULA DERIVATION C. Alan Blaylock, Hendeson State Univesity ABSTRACT This pape pesents an intuitive appoach to deiving annuity fomulas fo classoom use and attempts
More informationOnline Learning of Region Confidences for Object Tracking
Online Leaning of Region Confidences fo Object Tacking ABSTRACT This pape pesents an online leaning method fo object tacking. Movated by the attenon shifng among local egions of a human vision system duing
More informationSpirotechnics! September 7, 2011. Amanda Zeringue, Michael Spannuth and Amanda Zeringue Dierential Geometry Project
Spiotechnics! Septembe 7, 2011 Amanda Zeingue, Michael Spannuth and Amanda Zeingue Dieential Geomety Poject 1 The Beginning The geneal consensus of ou goup began with one thought: Spiogaphs ae awesome.
More informationDeflection of Electrons by Electric and Magnetic Fields
Physics 233 Expeiment 42 Deflection of Electons by Electic and Magnetic Fields Refeences Loain, P. and D.R. Coson, Electomagnetism, Pinciples and Applications, 2nd ed., W.H. Feeman, 199. Intoduction An
More informationLab #7: Energy Conservation
Lab #7: Enegy Consevation Photo by Kallin http://www.bungeezone.com/pics/kallin.shtml Reading Assignment: Chapte 7 Sections 1,, 3, 5, 6 Chapte 8 Sections 1-4 Intoduction: Pehaps one of the most unusual
More informationNURBS Drawing Week 5, Lecture 10
CS 43/585 Compute Gaphics I NURBS Dawing Week 5, Lectue 1 David Been, William Regli and Maim Pesakhov Geometic and Intelligent Computing Laboato Depatment of Compute Science Deel Univesit http://gicl.cs.deel.edu
More informationTECHNICAL DATA. JIS (Japanese Industrial Standard) Screw Thread. Specifications
JIS (Japanese Industial Standad) Scew Thead Specifications TECNICAL DATA Note: Although these specifications ae based on JIS they also apply to and DIN s. Some comments added by Mayland Metics Coutesy
More informationPHYSICS 111 HOMEWORK SOLUTION #13. May 1, 2013
PHYSICS 111 HOMEWORK SOLUTION #13 May 1, 2013 0.1 In intoductoy physics laboatoies, a typical Cavendish balance fo measuing the gavitational constant G uses lead sphees with masses of 2.10 kg and 21.0
More informationDetermining solar characteristics using planetary data
Detemining sola chaacteistics using planetay data Intoduction The Sun is a G type main sequence sta at the cente of the Sola System aound which the planets, including ou Eath, obit. In this inestigation
More informationMultiple choice questions [70 points]
Multiple choice questions [70 points] Answe all of the following questions. Read each question caefull. Fill the coect bubble on ou scanton sheet. Each question has exactl one coect answe. All questions
More informationPhysics 235 Chapter 5. Chapter 5 Gravitation
Chapte 5 Gavitation In this Chapte we will eview the popeties of the gavitational foce. The gavitational foce has been discussed in geat detail in you intoductoy physics couses, and we will pimaily focus
More informationSTABILITY ANALYSIS IN MILLING BASED ON OPERATIONAL MODAL DATA 1. INTRODUCTION
Jounal of Machine Engineeing, Vol. 11, No. 4, 211 Batosz POWALKA 1 Macin CHODZKO 1 Kzysztof JEMIELNIAK 2 milling, chatte, opeational modal analysis STABILITY ANALYSIS IN MILLING BASED ON OPERATIONAL MODAL
More informationChapter 3 Savings, Present Value and Ricardian Equivalence
Chapte 3 Savings, Pesent Value and Ricadian Equivalence Chapte Oveview In the pevious chapte we studied the decision of households to supply hous to the labo maket. This decision was a static decision,
More informationAn application of stochastic programming in solving capacity allocation and migration planning problem under uncertainty
An application of stochastic pogamming in solving capacity allocation and migation planning poblem unde uncetainty Yin-Yann Chen * and Hsiao-Yao Fan Depatment of Industial Management, National Fomosa Univesity,
More informationFigure 2. So it is very likely that the Babylonians attributed 60 units to each side of the hexagon. Its resulting perimeter would then be 360!
1. What ae angles? Last time, we looked at how the Geeks intepeted measument of lengths. Howeve, as fascinated as they wee with geomety, thee was a shape that was much moe enticing than any othe : the
More informationLab M4: The Torsional Pendulum and Moment of Inertia
M4.1 Lab M4: The Tosional Pendulum and Moment of netia ntoduction A tosional pendulum, o tosional oscillato, consists of a disk-like mass suspended fom a thin od o wie. When the mass is twisted about the
More informationChris J. Skinner The probability of identification: applying ideas from forensic statistics to disclosure risk assessment
Chis J. Skinne The pobability of identification: applying ideas fom foensic statistics to disclosue isk assessment Aticle (Accepted vesion) (Refeeed) Oiginal citation: Skinne, Chis J. (2007) The pobability
More informationQuantity Formula Meaning of variables. 5 C 1 32 F 5 degrees Fahrenheit, 1 bh A 5 area, b 5 base, h 5 height. P 5 2l 1 2w
1.4 Rewite Fomulas and Equations Befoe You solved equations. Now You will ewite and evaluate fomulas and equations. Why? So you can apply geometic fomulas, as in Ex. 36. Key Vocabulay fomula solve fo a
More informationFXA 2008. Candidates should be able to : Describe how a mass creates a gravitational field in the space around it.
Candidates should be able to : Descibe how a mass ceates a gavitational field in the space aound it. Define gavitational field stength as foce pe unit mass. Define and use the peiod of an object descibing
More informationAN IMPLEMENTATION OF BINARY AND FLOATING POINT CHROMOSOME REPRESENTATION IN GENETIC ALGORITHM
AN IMPLEMENTATION OF BINARY AND FLOATING POINT CHROMOSOME REPRESENTATION IN GENETIC ALGORITHM Main Golub Faculty of Electical Engineeing and Computing, Univesity of Zageb Depatment of Electonics, Micoelectonics,
More informationHow to create RAID 1 mirroring with a hard disk that already has data or an operating system on it
AnswesThatWok TM How to set up a RAID1 mio with a dive which aleady has Windows installed How to ceate RAID 1 mioing with a had disk that aleady has data o an opeating system on it Date Company PC / Seve
More informationAn Introduction to Omega
An Intoduction to Omega Con Keating and William F. Shadwick These distibutions have the same mean and vaiance. Ae you indiffeent to thei isk-ewad chaacteistics? The Finance Development Cente 2002 1 Fom
More informationest using the formula I = Prt, where I is the interest earned, P is the principal, r is the interest rate, and t is the time in years.
9.2 Inteest Objectives 1. Undestand the simple inteest fomula. 2. Use the compound inteest fomula to find futue value. 3. Solve the compound inteest fomula fo diffeent unknowns, such as the pesent value,
More informationComparing Availability of Various Rack Power Redundancy Configurations
Compaing Availability of Vaious Rack Powe Redundancy Configuations White Pape 48 Revision by Victo Avela > Executive summay Tansfe switches and dual-path powe distibution to IT equipment ae used to enhance
More informationVoltage ( = Electric Potential )
V-1 of 9 Voltage ( = lectic Potential ) An electic chage altes the space aound it. Thoughout the space aound evey chage is a vecto thing called the electic field. Also filling the space aound evey chage
More informationPY1052 Problem Set 8 Autumn 2004 Solutions
PY052 Poblem Set 8 Autumn 2004 Solutions H h () A solid ball stats fom est at the uppe end of the tack shown and olls without slipping until it olls off the ight-hand end. If H 6.0 m and h 2.0 m, what
More informationComparing Availability of Various Rack Power Redundancy Configurations
Compaing Availability of Vaious Rack Powe Redundancy Configuations By Victo Avela White Pape #48 Executive Summay Tansfe switches and dual-path powe distibution to IT equipment ae used to enhance the availability
More informationHow Much Should a Firm Borrow. Effect of tax shields. Capital Structure Theory. Capital Structure & Corporate Taxes
How Much Should a Fim Boow Chapte 19 Capital Stuctue & Copoate Taxes Financial Risk - Risk to shaeholdes esulting fom the use of debt. Financial Leveage - Incease in the vaiability of shaeholde etuns that
More informationSupplementary Material for EpiDiff
Supplementay Mateial fo EpiDiff Supplementay Text S1. Pocessing of aw chomatin modification data In ode to obtain the chomatin modification levels in each of the egions submitted by the use QDCMR module
More informationAN INTEGRATED MOBILE MAPPING SYSTEM FOR DATA ACQUISITION AND AUTOMATED ASSET EXTRACTION
AN INTEGRATED MOBILE MAPPING SYSTEM FOR DATA ACQUISITION AND AUTOMATED ASSET EXTRACTION T. Kingston a, V. Gikas b *, C. Laflamme a, C. Laouche a a GEO-3D Inc, 9655 Ignace St., Suite L, Bossad (QC, J4Y
More informationStructure and evolution of circumstellar disks during the early phase of accretion from a parent cloud
Cente fo Tubulence Reseach Annual Reseach Biefs 2001 209 Stuctue and evolution of cicumstella disks duing the ealy phase of accetion fom a paent cloud By Olusola C. Idowu 1. Motivation and Backgound The
More informationA framework for the selection of enterprise resource planning (ERP) system based on fuzzy decision making methods
A famewok fo the selection of entepise esouce planning (ERP) system based on fuzzy decision making methods Omid Golshan Tafti M.s student in Industial Management, Univesity of Yazd Omidgolshan87@yahoo.com
More information3D object recognition using spin-images for a humanoid stereoscopic vision system.
D object ecognition using spin-images fo a humanoid steeoscopic vision system. Olivie Stasse, Sylvain Dupitie and Kazuhito Yokoi AIST/IS-CRS/STIC Joint Japanese-Fench Robotics Laboatoy (JRL Intelligent
More informationReal Time Tracking of High Speed Movements in the Context of a Table Tennis Application
Real Time Tacking of High Speed Movements in the Context of a Table Tennis Application Stephan Rusdof Chemnitz Univesity of Technology D-09107, Chemnitz, Gemany +49 371 531 1533 stephan.usdof@infomatik.tu-chemnitz.de
More informationIlona V. Tregub, ScD., Professor
Investment Potfolio Fomation fo the Pension Fund of Russia Ilona V. egub, ScD., Pofesso Mathematical Modeling of Economic Pocesses Depatment he Financial Univesity unde the Govenment of the Russian Fedeation
More informationChannel selection in e-commerce age: A strategic analysis of co-op advertising models
Jounal of Industial Engineeing and Management JIEM, 013 6(1):89-103 Online ISSN: 013-0953 Pint ISSN: 013-843 http://dx.doi.og/10.396/jiem.664 Channel selection in e-commece age: A stategic analysis of
More informationAdaptive Queue Management with Restraint on Non-Responsive Flows
Adaptive Queue Management wi Restaint on Non-Responsive Flows Lan Li and Gyungho Lee Depatment of Electical and Compute Engineeing Univesity of Illinois at Chicago 85 S. Mogan Steet Chicago, IL 667 {lli,
More informationGravitation. AP Physics C
Gavitation AP Physics C Newton s Law of Gavitation What causes YOU to be pulled down? THE EARTH.o moe specifically the EARTH S MASS. Anything that has MASS has a gavitational pull towads it. F α Mm g What
More informationThe Role of Gravity in Orbital Motion
! The Role of Gavity in Obital Motion Pat of: Inquiy Science with Datmouth Developed by: Chistophe Caoll, Depatment of Physics & Astonomy, Datmouth College Adapted fom: How Gavity Affects Obits (Ohio State
More informationA Theoretical Approach to Risk Evaluation in Connection with Oxygen Releases
65 A publication of CHEMICAL ENGINEERING TRANSACTIONS VOL. 3, 03 Guest Editos: Eddy De Rademaeke, Buno Fabiano, Simbeto Senni Buatti Copyight 03, AIDIC Sevizi S..l., ISBN 978-88-95608--8; ISSN 974-979
More informationMagnetic Bearing with Radial Magnetized Permanent Magnets
Wold Applied Sciences Jounal 23 (4): 495-499, 2013 ISSN 1818-4952 IDOSI Publications, 2013 DOI: 10.5829/idosi.wasj.2013.23.04.23080 Magnetic eaing with Radial Magnetized Pemanent Magnets Vyacheslav Evgenevich
More informationPAN STABILITY TESTING OF DC CIRCUITS USING VARIATIONAL METHODS XVIII - SPETO - 1995. pod patronatem. Summary
PCE SEMINIUM Z PODSTW ELEKTOTECHNIKI I TEOII OBWODÓW 8 - TH SEMIN ON FUNDMENTLS OF ELECTOTECHNICS ND CICUIT THEOY ZDENĚK BIOLEK SPŠE OŽNO P.., CZECH EPUBLIC DLIBO BIOLEK MILITY CDEMY, BNO, CZECH EPUBLIC
More informationTop K Nearest Keyword Search on Large Graphs
Top K Neaest Keywod Seach on Lage Gaphs Miao Qiao, Lu Qin, Hong Cheng, Jeffey Xu Yu, Wentao Tian The Chinese Univesity of Hong Kong, Hong Kong, China {mqiao,lqin,hcheng,yu,wttian}@se.cuhk.edu.hk ABSTRACT
More informationLesson 8 Ampère s Law and Differential Operators
Lesson 8 Ampèe s Law and Diffeential Opeatos Lawence Rees 7 You ma make a single cop of this document fo pesonal use without witten pemission 8 Intoduction Thee ae significant diffeences between the electic
More informationSpace Charge Accumulation in Polymeric. High Voltage DC Cable Systems
Space Chage ccumulation in Polymeic High Voltage DC Cable Systems Space Chage ccumulation in Polymeic High Voltage DC Cable Systems Poefschift te vekijging van de gaad van docto aan de Technische Univesiteit
More informationModel-Driven Engineering of Adaptation Engines for Self-Adaptive Software: Executable Runtime Megamodels
Model-Diven Engineeing of Adaptation Engines fo Self-Adaptive Softwae: Executable Runtime Megamodels Thomas Vogel, Holge Giese Technische Beichte N. 66 des Hasso-Plattne-Instituts fü Softwaesystemtechnik
More informationAbstract. 2. Mathematical Formula To Calculate The Dimensions Of Microstrip Patch [Msp] Antenna. 1. Introduction
Bandwidth Enhancement and Analysis of Designed Rectangula Micostip Patch [MSP] Antenna using Compact Rectangula Slotted Technique fo Wideband Applications A. Manish Kuma Singh, B.I.E.T.Jhansi, U.P., India;
More informationFluids Lecture 15 Notes
Fluids Lectue 15 Notes 1. Unifom flow, Souces, Sinks, Doublets Reading: Andeson 3.9 3.12 Unifom Flow Definition A unifom flow consists of a velocit field whee V = uî + vĵ is a constant. In 2-D, this velocit
More informationImproving Software Effort Estimation Using Neuro-Fuzzy Model with SEER-SEM
Global Jounal of Compute Science and Technology Vol. 10 Issue 12 (Ve. 1.0) Octobe 2010 a g e 51 Impoving Softwae Effot Estimation Using Neuo-Fuzzy Model with SEER-SEM Wei Lin Du 1, Danny Ho 2, Luiz Fenando
More information4a 4ab b 4 2 4 2 5 5 16 40 25. 5.6 10 6 (count number of places from first non-zero digit to
. Simplify: 0 4 ( 8) 0 64 ( 8) 0 ( 8) = (Ode of opeations fom left to ight: Paenthesis, Exponents, Multiplication, Division, Addition Subtaction). Simplify: (a 4) + (a ) (a+) = a 4 + a 0 a = a 7. Evaluate
More informationDatabase Management Systems
Contents Database Management Systems (COP 5725) D. Makus Schneide Depatment of Compute & Infomation Science & Engineeing (CISE) Database Systems Reseach & Development Cente Couse Syllabus 1 Sping 2012
More informationPredictive Control of Permanent Magnet Synchronous Motor Based on Optimization Model Algorithmic Control
Pedictive Contol of Pemanent Magnet Synchonous Moto Based on Optimization Model Algoithmic Contol 1 Chen Junshuo, 2 Liu Jinglin, 3 Zhang Ying *1, Chen Junshuo School of Automation, Nothwesten Ploytechnical
More information3D MODELING OF SMALL OBJECTS USING MACRO LENS IN DIGITAL VERY CLOSE RANGE PHOTOGRAMMETRY
Intenational Achives of Photogammety, Remote Sensing and Spatial Infomation Sciences, Vol. XXXVIII, Pat 5 Commission V Symposium, Newcastle upon Tyne, UK. 3D MODELING OF SMALL OBJECTS USING MACRO LENS
More information2. Orbital dynamics and tides
2. Obital dynamics and tides 2.1 The two-body poblem This efes to the mutual gavitational inteaction of two bodies. An exact mathematical solution is possible and staightfowad. In the case that one body
More informationSecure Smartcard-Based Fingerprint Authentication
Secue Smatcad-Based Fingepint Authentication [full vesion] T. Chales Clancy Compute Science Univesity of Mayland, College Pak tcc@umd.edu Nega Kiyavash, Dennis J. Lin Electical and Compute Engineeing Univesity
More informationHigh Availability Replication Strategy for Deduplication Storage System
Zhengda Zhou, Jingli Zhou College of Compute Science and Technology, Huazhong Univesity of Science and Technology, *, zhouzd@smail.hust.edu.cn jlzhou@mail.hust.edu.cn Abstact As the amount of digital data
More informationMETHODOLOGICAL APPROACH TO STRATEGIC PERFORMANCE OPTIMIZATION
ETHODOOGICA APPOACH TO STATEGIC PEFOANCE OPTIIZATION ao Hell * Stjepan Vidačić ** Željo Gaača *** eceived: 4. 07. 2009 Peliminay communication Accepted: 5. 0. 2009 UDC 65.02.4 This pape pesents a matix
More information