Real-time spatial modeling to detect and track resources on construction sites

For more than 10 years the U.S. construction industry has experienced over 1,000 fatalities annually. Many fatalities may have been prevented had the individuals and equipment involved been more aware of and alert to the physical state of the environment around them. Awareness may be improved by automatic 3D (three-dimensional) sensing and modeling of the job site environment in real-time. Existing 3D modeling approaches based on range scanning techniques are capable of modeling static objects only, and thus cannot model in real-time dynamic objects in an environment comprised of moving humans, equipment, and materials. Emerging prototype 3D video range cameras offer another alternative by facilitating affordable, wide field of view, automated static and dynamic object detection and tracking at frame rates better than 1Hz (real-time). This dissertation presents an imperical work and methodology to rapidly create a spatial model of construction sites and in particular to detect, model, and track the position, dimension, direction, and velocity of static and moving project resources in real-time, based on range data obtained from a three-dimensional video range camera in a static or moving position. Existing construction site 3D modeling approaches based on optical range sensing technologies (laser scanners, rangefinders, etc.) and 3D modeling approaches (dense, sparse, etc.) that offered potential solutions for this research are reviewed. The choice of an emerging sensing tool and preliminary experiments with this prototype sensing technology are discussed. These findings led to the development of a range data processing algorithm based on three-dimensional occupancy grids which is demonstrated in detail. Testing and validation of the proposed algorithms have been conducted to quantify the performance of sensor and algorithm through extensive experimentation involving static and moving objects. Experiments in indoor laboratory and outdoor construction environments have been conducted with construction resources such as humans, equipment, materials, or structures to verify the accuracy of the occupancy grid modeling approach. Results show that modeling objects and measuring their position, dimension, direction, and speed had an accuracy level compatible to the requirements of active safety features for construction. Results demonstrate that video rate 3D data acquisition and analysis of construction environments can support effective detection, tracking, and convex hull modeling of objects. Exploiting rapidly generated three-dimensional models for improved visualization, communications, and process control has inherent value, broad application, and potential impact, e.g. as-built vs. as-planned comparison, condition assessment, maintenance, operations, and construction activities control. In combination with effective management practices, this sensing approach has the potential to assist equipment operators to avoid incidents that result in reduce human injury, death, or collateral damage on construction sites.Civil, Architectural, and Environmental Engineerin

Standardised methods for collaborative long-term monitoring and management of cetaceans in Wales

Monitoring long terms trends of species abundance is a fundamental requirement for effective conservation. Surveying wildlife creates a baseline to measure changes in the population and to detect and manage specific abiotic and biotic threats. However, long term monitoring is not always effective or achievable because of insufficient finances, resources, planning or limited project focus. Establishing a collaborative network of scientists to bring together similar research may provide the solution as seen with networks on seagrass, aquatic macrophytes and avian populations. Frequently there are many organisations working in isolation using multiple approaches on similar species. This case study specifically investigates the social barriers leading to a lack of collaborative efforts in cetacean monitoring in Wales where there are four organisations independently undertaking systematic long-term monitoring. Here, I produce, trial and analyse a simple low-cost standardised methodology that could be used for long-term monitoring by multiple organisations and review the potential of a collaborative acoustics project to enable simple comparisons of encounter rates for cetaceans Wales-wide. An online questionnaire to stakeholders revealed that primary barriers to collaborative research were personality differences and funding competition; participants indicated that the re-establishment of a marine mammal working group by Natural Resources Wales would enable development of personal relationships and fair access to resources. Similar working groups have been established in terrestrial and aquatic ecology which have attempted to overcome the challenges in effective long-term monitoring. It is anticipated that this research could be duplicated to other species to assess any barriers and solutions to collaborative working and establish more cohesive long-term monitoring strategies in ecology

Advances in the development of innovative sensor platforms for field analysis

none8noSustainable growth, environmental preservation, and improvement of life quality are strategic fields of worldwide interest and cornerstones of international policies. Humanity health and prosperity are closely related to our present choices on sustainable development. The main sources of pollution concern industry, including mining, chemical companies, and refineries, wastewater treatment; and consumers themselves. In order to guide and evaluate the eects of environmental policies, diuse monitoring campaigns and detailed (big) data analyses are needed. In this respect, the development and availability of innovative sensor platforms for field analysis and remote sensing are of crucial relevance. In this review, we provide an overview of the area, analyzing the major needs, available technologies, novel approaches, and perspectives. Among environmental pollutants that threaten the biosphere, we focus on inorganic and organic contaminants, which aect air and water quality. We describe the technologies for their assessment in the environment and then draw some conclusions and mention future perspectives opened by the integration of sensing technologies with robotics and the Internet of Things. Without the ambition to be exhaustive in such a rapidly growing field, this review is intended as a support for researchers and stakeholders looking for current, state-of-the-art, and key enabling technologies for environmental monitoring.openRizzato S.; Leo A.; Monteduro Anna Grazia; Chiriaco Maria Serena; Primiceri E.; Sirsi F.; Milone A.; Maruccio G.Rizzato, S.; Leo, A.; Monteduro, ANNA GRAZIA; Chiriaco', MARIA SERENA; Primiceri, E.; Sirsi, F.; Milone, A.; Maruccio, G

Three-dimensional localization and mapping of static environments by means of mobile perception

Model-based task planning is one of the main capabilities of autonomous mobile robots. Especially for model-based localization and path planning, a large-scale description of the operation environment is required. Cognitive communication between man and his machine could be based on a common, three-dimensional understanding of the environment. In the case of a personal service robot, the operation environment may comprise both indoor and outdoor spaces. In this thesis, a method for the generation of a three-dimensional geometric model for large scale, structured and natural environments is presented. The environment mapping method, which uses range images as measurement data, consists of three main phases: first, geometric features are extracted from each of the range images. Secondly, the relative coordinate transformations (i.e. registrations) between the sensor viewpoint locations, where the range data was measured, are computed. And, finally, an integrated map is formed by transforming the sub-map data into a common frame of reference. Two types of geometric features are extracted from the range images: cylinder segments (or more generally truncated cone segments) and straight-line segments. With cylinder segments tree trunks and other elongated cylindrical objects can be modeled, whereas the straight line segments correspond to the upper corners of vertical walls. The features are utilized as natural landmarks for registration computation. The presented method is tested by mapping three test sites representing structured, semi-structured and natural environments. The structured environment corresponds to a part of the premises of an office building, the semi-structured environment corresponds to the surroundings of a parking lot and the natural environment is a small forest area. The dimensions of the test sites are about 50 meters, 120 meters and 40 meters square, respectively. A simple incremental approach is used to build an integrated model for the parking lot and office corridor environments. For the principal mapping experiment, concerning the small forest area, a statistically more sound, optimal approach is applied. With respect to the feature extraction methods and the computation of the relative coordinate transformations between the viewpoints, robustness to outlier data and failure modes of the methods are discussed in more detail.reviewe

Mapping and Analysis of Coral Reef Damage Related to Boating in Kāneʻohe Bay with Unmanned Aerial Systems

MA University of Hawaii at Manoa 2016Includes bibliographical references (leaves 63–71).Low-cost unmanned aerial systems have been underutilized in mapping damage to coral reefs due to recreational boating activities. The need for fast and accurate mapping is important when making sense of situations where coral reefs require emergency restoration and damage assessments. With coral reefs under increasing stress from global climate change and other anthropogenic factors, the need to protect them is more important than ever. There are inherent challenges in mapping benthic habitats with typical methods such as scuba surveys and satellite photo interpretation. This study aims to use unmanned aerial vehicles to map damage to coral reefs related to boating in Kāneʻohe Bay. Images were taken at relatively low altitudes from an unmanned aerial vehicle and then mosaicked together using commercially available software. The image orthomosaics were georeferenced and digitized into vector files for further analysis. The vector files can reveal patterns and concentrations of vessel related damage to coral reefs in the bay. Continued data collection can serve to monitor damage and predict future locations of boat interactions with these important marine resources