Evaluation of a Canonical Image Representation for Sidescan Sonar

Acoustic sensors play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wide range and provides photo-realistic images in high resolution. However, SSS projects the 3D seafloor to 2D images, which are distorted by the AUV's altitude, target's range and sensor's resolution. As a result, the same physical area can show significant visual differences in SSS images from different survey lines, causing difficulties in tasks such as pixel correspondence and template matching. In this paper, a canonical transformation method consisting of intensity correction and slant range correction is proposed to decrease the above distortion. The intensity correction includes beam pattern correction and incident angle correction using three different Lambertian laws (cos, cos2, cot), whereas the slant range correction removes the nadir zone and projects the position of SSS elements into equally horizontally spaced, view-point independent bins. The proposed method is evaluated on real data collected by a HUGIN AUV, with manually-annotated pixel correspondence as ground truth reference. Experimental results on patch pairs compare similarity measures and keypoint descriptor matching. The results show that the canonical transformation can improve the patch similarity, as well as SIFT descriptor matching accuracy in different images where the same physical area was ensonified.Comment: 7 pages, 8 figure

Robust nonlinear control of vectored thrust aircraft

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations

Automatic fine motor control behaviours for autonomous mobile agents operating on uneven terrains

A novel mechanism able to produce increasingly stable paths for mobile robotic agents travelling over uneven terrain is proposed in this paper. In doing so, cognitive agents can focus on higher-level goal planning, with the increased confidence the resulting tasks will be automatically accomplished via safe and reliable paths within the lower-level skills of the platform. The strategy proposes the extension of the Fast Marching level-set method of propagating interfaces in 3D lattices with a metric to reduce robot body instability. This is particularly relevant for kinematically reconfigurable platforms which significantly modify their mass distribution through posture adaptation, such as humanoids or mobile robots equipped with manipulator arms or varying traction arrangements. Simulation results of an existing reconfigurable mobile rescue robot operating on real scenarios illustrate the validity of the proposed strategy. Copyright 2010 ACM

The LatMix summer campaign : submesoscale stirring in the upper ocean

Author Posting. © American Meteorological Society, 2015. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Bulletin of the American Meteorological Society 96 (2015): 1257–1279, doi:10.1175/BAMS-D-14-00015.1.Lateral stirring is a basic oceanographic phenomenon affecting the distribution of physical, chemical, and biological fields. Eddy stirring at scales on the order of 100 km (the mesoscale) is fairly well understood and explicitly represented in modern eddy-resolving numerical models of global ocean circulation. The same cannot be said for smaller-scale stirring processes. Here, the authors describe a major oceanographic field experiment aimed at observing and understanding the processes responsible for stirring at scales of 0.1–10 km. Stirring processes of varying intensity were studied in the Sargasso Sea eddy field approximately 250 km southeast of Cape Hatteras. Lateral variability of water-mass properties, the distribution of microscale turbulence, and the evolution of several patches of inert dye were studied with an array of shipboard, autonomous, and airborne instruments. Observations were made at two sites, characterized by weak and moderate background mesoscale straining, to contrast different regimes of lateral stirring. Analyses to date suggest that, in both cases, the lateral dispersion of natural and deliberately released tracers was O(1) m2 s–1 as found elsewhere, which is faster than might be expected from traditional shear dispersion by persistent mesoscale flow and linear internal waves. These findings point to the possible importance of kilometer-scale stirring by submesoscale eddies and nonlinear internal-wave processes or the need to modify the traditional shear-dispersion paradigm to include higher-order effects. A unique aspect of the Scalable Lateral Mixing and Coherent Turbulence (LatMix) field experiment is the combination of direct measurements of dye dispersion with the concurrent multiscale hydrographic and turbulence observations, enabling evaluation of the underlying mechanisms responsible for the observed dispersion at a new level.The bulk of this work was funded under the Scalable Lateral Mixing and Coherent Turbulence Departmental Research Initiative and the Physical Oceanography Program. The dye experiments were supported jointly by the Office of Naval Research and the National Science Foundation Physical Oceanography Program (Grants OCE-0751653 and OCE-0751734).2016-02-0