INVESTIGATION OF THE STABILITY OF THE STEADY MOTIONS OF A ROTATIONAL MECHANICAL SYSTEM

The conditional stability of steady motions of a mechanical isolated system consisting of a rotating carrier body, a material point creating its static imbalance, and a passive automatic balancer consisting of two identical mathematical pendulums are investigated. The pendulums are mounted on the longitudinal axis of the supporting body and move in the plane of static imbalance. The relative motion of the pendulums is impeded by viscous drag forces. It is established that in the case when the imbalance is and the pendulums can eliminate it with a certain margin, there is one basic movement; in the absence of imbalance, there is a one–parameter family of basic movements; in the case of maximum unbalance, which pendulums can eliminate, there is one basic movement, but it generates a pseudo–family of basic motions. It is also established that conditionally asymptotically stable are separate basic motions, if they are isolated, or a family, or pseudo–families of basic motions. For pendulum, ball and liquid automatic balancers, an approximate law is obtained for the variation of large nutation angles in the case of an axisymmetric and non–axisymmetric supporting body. It is established that the rate of change of the nutation angle is significantly affected by the ratio between the axial moments of inertia of the rotating carrier and the coefficient of viscous drag. An empirical formula is proposed for estimating the residual nutation angle, which occurs when the passive automatic balancers (nutation dampers) are incorrectly installed on the spacecraft and stabilized by rotation, and an example of its application for a particular satellite is given. It is shown that incorrect installation of the auto balance on the supporting body can lead to the formation of a residual nutation angle even in the case of a "stable" supporting body. The obtained results can be used in the design of passive automatic balancers (nutation damping) (pendulum, ball and liquid) for spacecrafts stabilized by rotatio

Building a Bird: Musculoskeletal Modeling and Simulation of Wing-Assisted Incline Running during Avian Ontogeny

Flapping flight is the most power-demanding mode of locomotion, associated with a suite of anatomical specializations in extant adult birds. In contrast, many developing birds use their forelimbs to negotiate environments long before acquiring “flight adaptations,” recruiting their developing wings to continuously enhance leg performance and, in some cases, fly. How does anatomical development influence these locomotor behaviors? Isolating morphological contributions to wing performance is extremely challenging using purely empirical approaches. However, musculoskeletal modeling and simulation techniques can incorporate empirical data to explicitly examine the functional consequences of changing morphology by manipulating anatomical parameters individually and estimating their effects on locomotion. To assess how ontogenetic changes in anatomy affect locomotor capacity, we combined existing empirical data on muscle morphology, skeletal kinematics, and aerodynamic force production with advanced biomechanical modeling and simulation techniques to analyze the ontogeny of pectoral limb function in a precocial ground bird (Alectoris chukar). Simulations of wing-assisted incline running (WAIR) using these newly developed musculoskeletal models collectively suggest that immature birds have excess muscle capacity and are limited more by feather morphology, possibly because feathers grow more quickly and have a different style of growth than bones and muscles. These results provide critical information about the ontogeny and evolution of avian locomotion by (i) establishing how muscular and aerodynamic forces interface with the skeletal system to generate movement in morphing juvenile birds, and (ii) providing a benchmark to inform biomechanical modeling and simulation of other locomotor behaviors, both across extant species and among extinct theropod dinosaurs

Learning Online Smooth Predictors for Realtime Camera Planning using Recurrent Decision Trees

We study the problem of online prediction for realtime camera planning, where the goal is to predict smooth trajectories that correctly track and frame objects of interest (e.g., players in a basketball game). The conventional approach for training predictors does not directly consider temporal consistency, and often produces undesirable jitter. Although post-hoc smoothing (e.g., via a Kalman filter) can mitigate this issue to some degree, it is not ideal due to overly stringent modeling assumptions (e.g., Gaussian noise). We propose a recurrent decision tree framework that can directly incorporate temporal consistency into a data-driven predictor, as well as a learning algorithm that can efficiently learn such temporally smooth models. Our approach does not require any post-processing, making online smooth predictions much easier to generate when the noise model is unknown. We apply our approach to sports broadcasting: given noisy player detections, we learn where the camera should look based on human demonstrations. Our experiments exhibit significant improvements over conventional baselines and showcase the practicality of our approach

An Optokinetic Nystagmus Detection Method for Use With Young Children

Sangi, M., Thompson, B., & Turuwhenua, J. (2015). An Optokinetic Nystagmus Detection Method for Use With Young Children. IEEE Journal of Translational Engineering in Health and Medicine, 3, 1600110. http://doi.org/10.1109/JTEHM.2015.2410286 ©IEEEThe detection of vision problems in early childhood can prevent neurodevelopmental disorders such as amblyopia. However, accurate clinical assessment of visual function in young children is challenging. optokinetic nystagmus (OKN) is a reflexive sawtooth motion of the eye that occurs in response to drifting stimuli, that may allow for objective measurement of visual function in young children if appropriate child-friendly eye tracking techniques are available. In this paper, we present offline tools to detect the presence and direction of the optokinetic reflex in children using consumer grade video equipment. Our methods are tested on video footage of children (N = 5 children and 20 trials) taken as they freely observed visual stimuli that induced horizontal OKN. Using results from an experienced observer as a baseline, we found the sensitivity and specificity of our OKN detection method to be 89.13% and 98.54%, respectively, across all trials. Our OKN detection results also compared well (85%) with results obtained from a clinically trained assessor. In conclusion, our results suggest that OKN presence and direction can be measured objectively in children using consumer grade equipment, and readily implementable algorithms

A study of atmospheric diffusion from the LANDSAT imagery

LANDSAT multispectral scanner data of the smoke plumes which originated in eastern Cabo Frio, Brazil and crossed over into the Atlantic Ocean, are analyzed to illustrate how high resolution LANDSAT imagery can aid meteorologists in evaluating specific air pollution events. The eleven LANDSAT images selected are for different months and years. The results show that diffusion is governed primarily by water and air temperature differences. With colder water, low level air is very stable and the vertical diffusion is minimal; but water warmer than the air induces vigorous diffusion. The applicability of three empirical methods for determining the horizontal eddy diffusivity coefficient in the Gaussian plume formula was evaluated with the estimated standard deviation of the crosswind distribution of material in the plume from the LANDSAT imagery. The vertical diffusion coefficient in stable conditions is estimated using Weinstock's formulation. These results form a data base for use in the development and validation of meso scale atmospheric diffusion models

Motion Segmentation Aided Super Resolution Image Reconstruction

This dissertation addresses Super Resolution (SR) Image Reconstruction focusing on motion segmentation. The main thrust is Information Complexity guided Gaussian Mixture Models (GMMs) for Statistical Background Modeling. In the process of developing our framework we also focus on two other topics; motion trajectories estimation toward global and local scene change detections and image reconstruction to have high resolution (HR) representations of the moving regions. Such a framework is used for dynamic scene understanding and recognition of individuals and threats with the help of the image sequences recorded with either stationary or non-stationary camera systems. We introduce a new technique called Information Complexity guided Statistical Background Modeling. Thus, we successfully employ GMMs, which are optimal with respect to information complexity criteria. Moving objects are segmented out through background subtraction which utilizes the computed background model. This technique produces superior results to competing background modeling strategies. The state-of-the-art SR Image Reconstruction studies combine the information from a set of unremarkably different low resolution (LR) images of static scene to construct an HR representation. The crucial challenge not handled in these studies is accumulating the corresponding information from highly displaced moving objects. In this aspect, a framework of SR Image Reconstruction of the moving objects with such high level of displacements is developed. Our assumption is that LR images are different from each other due to local motion of the objects and the global motion of the scene imposed by non-stationary imaging system. Contrary to traditional SR approaches, we employed several steps. These steps are; the suppression of the global motion, motion segmentation accompanied by background subtraction to extract moving objects, suppression of the local motion of the segmented out regions, and super-resolving accumulated information coming from moving objects rather than the whole scene. This results in a reliable offline SR Image Reconstruction tool which handles several types of dynamic scene changes, compensates the impacts of camera systems, and provides data redundancy through removing the background. The framework proved to be superior to the state-of-the-art algorithms which put no significant effort toward dynamic scene representation of non-stationary camera systems

Biolocomotion Detection in Videos

Animals locomote for various reasons: to search for food, to find suitable habitat, to pursue prey, to escape from predators, or to seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. In this dissertation, the locomotion of general biological species is referred to as biolocomotion. The goal of this dissertation is to develop a computational approach to detect biolocomotion in any unprocessed video. The ways biological entities locomote through an environment are extremely diverse. Various creatures make use of legs, wings, fins, and other means to move through the world. Significantly, the motion exhibited by the body parts to navigate through an environment can be modelled by a combination of an overall positional advance with an overlaid asymmetric oscillatory pattern, a distinctive signature that tends to be absent in non-biological objects in locomotion. In this dissertation, this key trait of positional advance with asymmetric oscillation along with differences in an object's common motion (extrinsic motion) and localized motion of its parts (intrinsic motion) is exploited to detect biolocomotion. In particular, a computational algorithm is developed to measure the presence of these traits in tracked objects to determine if they correspond to a biological entity in locomotion. An alternative algorithm, based on generic handcrafted features combined with learning is assembled out of components from allied areas of investigation, also is presented as a basis of comparison to the main proposed algorithm. A novel biolocomotion dataset encompassing a wide range of moving biological and non-biological objects in natural settings is provided. Additionally, biolocomotion annotations to an extant camouflage animals dataset also is provided. Quantitative results indicate that the proposed algorithm considerably outperforms the alternative approach, supporting the hypothesis that biolocomotion can be detected reliably based on its distinct signature of positional advance with asymmetric oscillation and extrinsic/intrinsic motion dissimilarity

Characterizing Deformation of Buildings from Videos

We have started to explore the feasibility of extracting useful data on the deformation of buildings and structures based on optical videos, (Taghavi Larigani & Heaton). In the beginning, we look at the characterizations and limitations of the hardware, which is composed of a high-quality digital camera, combined with its optical imaging system capturing a video-footage of the structure under test, and then introduce a straightforward targets-tracking algorithm that produces the time-series displacements of targets that we select on the video. We performed preliminary measurements consisting of testing our targets-tracking algorithm using high definition format videos displaying the structures that we wanted to test. The measurements pertain to a 1) finite-element software-generated video of JPL/NASA principal building, 2) YouTube-video of a seismic dynamic test of a building, 3) YouTube-video of the Millennium London Bridge “Wobbly Bridge”, 4) YouTube-video of a United Boeing 777, 4) YouTube-video of NASA space shuttle rockets during launch. So far, our tests are encouraging. If our approach proves viable, it can be transformative for the field of earthquake engineering and structural health monitoring. Hence, we consider the prospect of using our technique for surveying buildings and other civil structures in high seismic risk urban agglomerations. In parallel, the same technique could be applied for 1) real-time structural health monitoring of civil structures, 2) nuclear plants, 3) oil and gas infrastructures, 4) rail & road networks, 5) aircraft, 6) spacecraft, 7) etc., by simply analyzing the structure-facing camera recorded data