Engineering data compendium. Human perception and performance. User's guide

The concept underlying the Engineering Data Compendium was the product of a research and development program (Integrated Perceptual Information for Designers project) aimed at facilitating the application of basic research findings in human performance to the design and military crew systems. The principal objective was to develop a workable strategy for: (1) identifying and distilling information of potential value to system design from the existing research literature, and (2) presenting this technical information in a way that would aid its accessibility, interpretability, and applicability by systems designers. The present four volumes of the Engineering Data Compendium represent the first implementation of this strategy. This is the first volume, the User's Guide, containing a description of the program and instructions for its use

Map building fusing acoustic and visual information using autonomous underwater vehicles

Author Posting. © The Author(s), 2012. This is the author's version of the work. It is posted here by permission of John Wiley & Sons for personal use, not for redistribution. The definitive version was published in Journal of Field Robotics 30 (2013): 763–783, doi:10.1002/rob.21473.We present a system for automatically building 3-D maps of underwater terrain fusing visual data from a single camera with range data from multibeam sonar. The six-degree of freedom location of the camera relative to the navigation frame is derived as part of the mapping process, as are the attitude offsets of the multibeam head and the on-board velocity sensor. The system uses pose graph optimization and the square root information smoothing and mapping framework to simultaneously solve for the robot’s trajectory, the map, and the camera location in the robot’s frame. Matched visual features are treated within the pose graph as images of 3-D landmarks, while multibeam bathymetry submap matches are used to impose relative pose constraints linking robot poses from distinct tracklines of the dive trajectory. The navigation and mapping system presented works under a variety of deployment scenarios, on robots with diverse sensor suites. Results of using the system to map the structure and appearance of a section of coral reef are presented using data acquired by the Seabed autonomous underwater vehicle.The work described herein was funded by the National Science Foundation Censsis ERC under grant number EEC-9986821, and by the National Oceanic and Atmospheric Administration under grant number NA090AR4320129

Evaluation of surface defect detection in reinforced concrete bridge decks using terrestrial LiDAR

Routine bridge inspections require labor intensive and highly subjective visual interpretation to determine bridge deck surface condition. Light Detection and Ranging (LiDAR) a relatively new class of survey instrument has become a popular and increasingly used technology for providing as-built and inventory data in civil applications. While an increasing number of private and governmental agencies possess terrestrial and mobile LiDAR systems, an understanding of the technology’s capabilities and potential applications continues to evolve. LiDAR is a line-of-sight instrument and as such, care must be taken when establishing scan locations and resolution to allow the capture of data at an adequate resolution for defining features that contribute to the analysis of bridge deck surface condition. Information such as the location, area, and volume of spalling on deck surfaces, undersides, and support columns can be derived from properly collected LiDAR point clouds. The LiDAR point clouds contain information that can provide quantitative surface condition information, resulting in more accurate structural health monitoring. LiDAR scans were collected at three study bridges, each of which displayed a varying degree of degradation. A variety of commercially available analysis tools and an independently developed algorithm written in ArcGIS Python (ArcPy) were used to locate and quantify surface defects such as location, volume, and area of spalls. The results were visual and numerically displayed in a user-friendly web-based decision support tool integrating prior bridge condition metrics for comparison. LiDAR data processing procedures along with strengths and limitations of point clouds for defining features useful for assessing bridge deck condition are discussed. Point cloud density and incidence angle are two attributes that must be managed carefully to ensure data collected are of high quality and useful for bridge condition evaluation. When collected properly to ensure effective evaluation of bridge surface condition, LiDAR data can be analyzed to provide a useful data set from which to derive bridge deck condition information

Studies in ambient intelligent lighting

The revolution in lighting we are arguably experiencing is led by technical developments in the area of solid state lighting technology. The improved lifetime, efficiency and environmentally friendly raw materials make LEDs the main contender for the light source of the future. The core of the change is, however, not in the basic technology, but in the way users interact with it and the way the quality of the produced effect on the environment is judged. With the new found freedom the users can switch their focus from the confines of the technology to the expression of their needs, regardless of the details of the lighting system. Identifying the user needs, creating an effective language to communicate them to the system, and translating them to control signals that fulfill them, as well as defining the means to measure the quality of the produced result are the topic of study of a new multidisciplinary area of study, Ambient Intelligent Lighting. This thesis describes a series of studies in the field of Ambient Intelligent Lighting, divided in two parts. The first part of the thesis demonstrates how, by adopting a user centric design philosophy, the traditional control paradigms can be superseded by novel, so-called effect driven controls. Chapter 3 describes an algorithm that, using statistical methods and image processing, generates a set of colors based on a term or set of terms. The algorithm uses Internet image search engines (Google Images, Flickr) to acquire a set of images that represent a term and subsequently extracts representative colors from the set. Additionally, an estimate of the quality of the extracted set of colors is computed. Based on the algorithm, a system that automatically enriches music with lyrics based images and lighting was built and is described. Chapter 4 proposes a novel effect driven control algorithm, enabling users easy, natural and system agnostic means to create a spatial light distribution. By using an emerging technology, visible light communication, and an intuitive effect definition, a real time interactive light design system was developed. Usability studies on a virtual prototype of the system demonstrated the perceived ease of use and increased efficiency of an effect driven approach. In chapter 5, using stochastic models, natural temporal light transitions are modeled and reproduced. Based on an example video of a natural light effect, a Markov model of the transitions between colors of a single light source representing the effect is learned. The model is a compact, easy to reproduce, and as the user studies show, recognizable representation of the original light effect. The second part of the thesis studies the perceived quality of one of the unique capabilities of LEDs, chromatic temporal transitions. Using psychophysical methods, existing spatial models of human color vision were found to be unsuitable for predicting the visibility of temporal artifacts caused by the digital controls. The chapters in this part demonstrate new perceptual effects and make the first steps towards building a temporal model of human color vision. In chapter 6 the perception of smoothness of digital light transitions is studied. The studies presented demonstrate the dependence of the visibility of digital steps in a temporal transition on the frequency of change, chromaticity, intensity and direction of change of the transition. Furthermore, a clear link between the visibility of digital steps and flicker visibility is demonstrated. Finally, a new, exponential law for the dependence of the threshold speed of smooth transitions on the changing frequency is hypothesized and proven in subsequent experiments. Chapter 7 studies the discrimination and preference of different color transitions between two colors. Due to memory effects, the discrimination threshold for complete transitions was shown to be larger than the discrimination threshold for two single colors. Two linear transitions in different color spaces were shown to be significantly preferred over a set of other, curved, transitions. Chapter 8 studies chromatic and achromatic flicker visibility in the periphery. A complex change of both the absolute visibility thresholds for different frequencies, as well as the critical flicker frequency is observed. Finally, an increase in the absolute visibility thresholds caused by an addition of a mental task in central vision is demonstrated