Abstract

We describe the design and implementation of a vision based Intermodal Train Monitoring System(ITMS) for extracting various features like length of gaps in an intermodal(IM) train which can later be used for higher level inferences. An intermodal train is a freight train consisting of two basic types of loads - containers and trailers. Our system first captures the video of an IM train, and applies image processing and machine learning techniques developed in this work to identify the various types of loads as containers and trailers. The whole process relies on a sequence of following tasks - robust background subtraction in each frame of the video, estimation of train velocity, creation of mosaic of the whole train from the video and classification of train loads into containers and trailers. Finally, the length of gaps between the loads of the IM train is estimated and is used to analyze the aerodynamic efficiency of the loading pattern of the train, which is a critical aspect of freight trains. This paper focusses on the machine vision aspect of the whole system.

Abstract

In this paper, we present a novel boosted robot vision control algorithm. The method utilizes on-line boosting to produce a strong vision-based robot control starting from two weak algorithms. The notion of weak and strong algorithms has been presented in the context of robot vision control, in presence of uncertainty in the measurement process. Appropriate probabilistic error functions are defined for the weak algorithm to evaluate their suitability in the task. An on-line boosting algorithm is employed to derive a final strong algorithm starting from two weak algorithms. This strong one has superior performance both in image and Cartesian spaces. Experiments justify this claim.

Abstract

Digitally recording dynamic events, such as sporting events, for experiencing in a spatio-temporally distant and arbitrary setting requires 4D capture: three dimensions for their geometry and appearance over the fourth dimension of time. Today's computer vision techniques make 4D capture possible. The virtualized reality system serves as an example on the general problem of digitizing dynamic events. In this article, we present the virtualized reality system's details from a historical perspective

Abstract

Enthalpy entropy compensation effect has been a debatable topic for explaining the thermodynamic parameters in chemical reactions. Kinetic data for thermal degradation of chlorophylls (a, b and total) at 105145 C in coriander and mint leaf puree at pH 5.58.5 was used for this study. By applying the modified transition state theory and Krugs unbiased statistical regression procedure, the existence of thermodynamic compensation was tested for chlorophyll degradation. Enthalpy of activation (DH) for the coriander and mint purees ranged from 2.36 to 91.99 kJ/mol while entropy (DS) ranged from 0.047 to 0.713 kJ/(mol K). Though the enthalpy and entropy val- ues exhibited an excellent linear relationship (R2> 0.96), a critical analysis of the results indicated absence of any extra-thermodynamic effect or thermodynamic compensation for chlorophylls degradation. The presence of isokinetic point was also not detected.

Abstract

Intermodal (IM) trains are typically the fastest freight trains operated in North America. The aerodynamic characteristics of many of these trains are often relatively poor resulting in high fuel consumption. However, considerable variation in fuel efficiency is possible depending on how the loads are placed on railcars in the train. Consequently, substantial potential fuel savings are possible if more attention is paid on the loading configurations of trains. A wayside machine vision (MV) system was developed to automatically scan passing IM trains and assess their aerodynamic efficiency. MV algorithms are used to analyse these images, detect and measure gaps between loads. In order to make use of the data, a scoring system was devel- oped based on two attributes – the aerodynamic coefficient and slot efficiency. The aerodynamic coefficient is calculated using the Aerodynamic Subroutine of the Train Energy Model. Slot effi- ciency represents the difference between the actual and ideal loading configuration given the particular set of railcars in the train. This system can provide IM terminal managers feedback on loading performance for trains and be integrated into the software support systems used for loading assignment.

Abstract

Different methodologies exist to direct the motion of sensors to detect targets moving across an environment in various scenarios. However, some of these do not model that navigation scenario in an environment in which obstacles are present. We extend our earlier algorithm for optimal target detection, as well as other algorithms reported in literature, to this case, and make a detailed comparison of their performance. This makes clear that the current algorithm is competitive in applications where target statistics are known in advance; otherwise, a heuristic technique by Sukhatme and Jung performs best.

Abstract

RS paths for a robot with both front and rear wheel steer. We call such robots as FR steer. The occurrence of such paths is due to the additional maneuver possible in such a robot which we call parallel steer, in addition to the ones already present in a vehicle with only front wheel steering. Hence we extend the optimal path set, containing only a single element to a set, containing n elements, thereby extending its configuration set along the optimal path from the initial to the final configuration. This extension of the set to set is made possible by introducing a special set, which we call the Parallel Steer (PS) Set. Such an extension of the configuration set would increase the size of the final configuration set achievable by a path that is optimal in free space. In the following discussion, we shall term all paths whose length is equal to an RS path as optimal.

Abstract

We present in this paper a methodology for computing the maximum velocity profile over a trajectory planned for a mobile robot. Environment and robot dynamics as well as the constraints of the robot sensors determine the profile. The planned profile is indicative of maximum speeds that can be possessed by the robot along its path without colliding with any of the mobile objects that could intercept its future trajectory. The mobile objects could be arbitrary in number and the only information available regarding them is their maximum possible velocity. The velocity profile also enables one to deform planned trajectories for better trajectory time. The methodology has been adopted for holonomic and nonholonomic motion planners. An extension of the approach to an online real-time scheme that modifies and adapts the path as well as velocities to changes in the environment such that both safety and execution time are not compromised is also presented for the holonomic case. Simulation and experimental results demonstrate the efficacy of this methodology.

Abstract

The great devastating tsunamigenic earthquake of 26 December 2004 (M9.0) in Sumatra was quickly followed by another great one on 28 March 2005 (M8.7) in the same region. This is for the first time in the known history of Seismology that 2 great earthquakes have occurred in close spatial proximity in such a quick succession. In the present study we highlight the role of the multiple plate junction comprising the India, Burma, Australia and Sunda plates, in generation of such great earthquakes. The 26 December 2004 and the 28 March 2005 earthquakes in the Andaman-Sumatra arc seem to have occurred on distinct India-Burma and Australia-Sunda mega-thrust segments possibly separated by a stress barrier or a lithospheric break at the junction that prevented stress transfer along the arc during both earthquakes. This is evidenced by the confinement of aftershock activity on either sides of the barrier during each of the earthquakes. It appears that the large impulsive co-seismic deformation during the first earthquake of 26 December 2004 triggered the already saturated adjoining segment of the Australia-Sunda plate boundary within a short period of 3 months, generating the second one on 28 March 2005. An examination of the locations of the world’s 12 largest earthquakes since the year 1900 indicates a strong correlation (>80%) w

Abstract

The great devastating tsunamigenic earthquake of 26 December 2004 (M9.0) in Sumatra was quickly followed by another great one on 28 March 2005 (M8.7) in the same region. This is for the first time in the known history of Seismology that 2 great earthquakes have occurred in close spatial proximity in such a quick succession. In the present study we highlight the role of the multiple plate junction comprising the India, Burma, Australia and Sunda plates, in generation of such great earthquakes. The 26 December 2004 and the 28 March 2005 earthquakes in the Andaman-Sumatra arc seem to have occurred on distinct India-Burma and Australia-Sunda mega-thrust segments possibly separated by a stress barrier or a lithospheric break at the junction that prevented stress transfer along the arc during both earthquakes. This is evidenced by the confinement of aftershock activity on either sides of the barrier during each of the earthquakes. It appears that the large impulsive co-seismic deformation during the first earthquake of 26 December 2004 triggered the already saturated adjoining segment of the Australia-Sunda plate boundary within a short period of 3 months, generating the second one on 28 March 2005. An examination of the locations of the world’s 12 largest earthquakes since the year 1900 indicates a strong correlation (>80%) with multiple plate junctions. Apart from the 2 great Sumatran earthquakes observed at the quadruple plate junction of India, Burma, Australia and Sunda, even the 2 greatest earthquakes in the Himalayas – the 1897 Shillong and the 1950 Assam earthquakes – each of magnitude 8.7, occurred at a quadruple junction near the eastern Himalayan syntaxis, comprising the India, Eurasia, Burma and Sunda plates. Finite element modeling of stress field at plate junctions indicates the mechanism of great stress build-up due to the plate geometry and variable plate velocities. In general, it is inferred that triple and quadruple plate junctions are potential targets for future great earthquakes.