Quadrotor control for persistent surveillance of dynamic environments

Thesis (M.S.)--Boston UniversityThe last decade has witnessed many advances in the field of small scale unmanned aerial vehicles (UAVs). In particular, the quadrotor has attracted significant attention. Due to its ability to perform vertical takeoff and landing, and to operate in cluttered spaces, the quadrotor is utilized in numerous practical applications, such as reconnaissance and information gathering in unsafe or otherwise unreachable environments. This work considers the application of aerial surveillance over a city-like environment. The thesis presents a framework for automatic deployment of quadrotors to monitor and react to dynamically changing events. The framework has a hierarchical structure. At the top level, the UAVs perform complex behaviors that satisfy high- level mission specifications. At the bottom level, low-level controllers drive actuators on vehicles to perform the desired maneuvers. In parallel with the development of controllers, this work covers the implementation of the system into an experimental testbed. The testbed emulates a city using physical objects to represent static features and projectors to display dynamic events occurring on the ground as seen by an aerial vehicle. The experimental platform features a motion capture system that provides position data for UAVs and physical features of the environment, allowing for precise, closed-loop control of the vehicles. Experimental runs in the testbed are used to validate the effectiveness of the developed control strategies

Discriminatively Trained Latent Ordinal Model for Video Classification

We study the problem of video classification for facial analysis and human action recognition. We propose a novel weakly supervised learning method that models the video as a sequence of automatically mined, discriminative sub-events (eg. onset and offset phase for "smile", running and jumping for "highjump"). The proposed model is inspired by the recent works on Multiple Instance Learning and latent SVM/HCRF -- it extends such frameworks to model the ordinal aspect in the videos, approximately. We obtain consistent improvements over relevant competitive baselines on four challenging and publicly available video based facial analysis datasets for prediction of expression, clinical pain and intent in dyadic conversations and on three challenging human action datasets. We also validate the method with qualitative results and show that they largely support the intuitions behind the method.Comment: Paper accepted in IEEE TPAMI. arXiv admin note: substantial text overlap with arXiv:1604.0150

Localization of Quaternary slip rates in an active rift in 10(5) years: an example from central Greece constrained by U-234-Th-230 coral dates from uplifted paleoshorelines

Mapping, dating, and modeling of paleoshorelines uplifted in the footwall of the 1981 Gulf of Corinth earthquake fault, Greece (Ms 6.9–6.7), are used to assess its slip rate history relative to other normal faults in the area and study strain localization. The 234U-230Th coral ages from Cladocora caespitosa date uplifted shoreface sediments, and paleoshorelines from glacioeustatic sea level highstands at 76, (possibly) 100, 125, 175, 200, 216, 240, and 340 ka. Uplifted Quaternary and Holocene paleoshorelines decrease in elevation toward the western tip of the fault, exhibiting larger tilt angles with age, showing that uplift is due to progressive fault slip. Since 125 ka, uplift rates varied from 0.25 to 0.52 mm/yr over a distance of 5 km away from the fault tip. Tilting was also occurring prior to 125 ka, but uplift rates were lower because the 125 ka paleoshoreline is at 77% of the elevation of the 240 ka paleoshoreline despite being nearly half its age. Comparison of paleoshoreline elevations and sedimentology with the Quaternary sea level curve shows that slip rates increased by a factor of 3.2 ± 0.2 at 175 ± 75 ka, synchronous with cessation of activity on a neighboring normal fault at 382–112 ka. We suggest that the rapid localization of up to 10–15 mm/yr of extension into the narrow gulf (∼30 km wide) resulted from synchronous fault activity on neighboring faults followed by localization rather than sequential faulting, with consequences for the mechanism controlling localization of extension

Cross-task weakly supervised learning from instructional videos

In this paper we investigate learning visual models for the steps of ordinary tasks using weak supervision via instructional narrations and an ordered list of steps instead of strong supervision via temporal annotations. At the heart of our approach is the observation that weakly supervised learning may be easier if a model shares components while learning different steps: `pour egg' should be trained jointly with other tasks involving `pour' and `egg'. We formalize this in a component model for recognizing steps and a weakly supervised learning framework that can learn this model under temporal constraints from narration and the list of steps. Past data does not permit systematic studying of sharing and so we also gather a new dataset, CrossTask, aimed at assessing cross-task sharing. Our experiments demonstrate that sharing across tasks improves performance, especially when done at the component level and that our component model can parse previously unseen tasks by virtue of its compositionality.Comment: 18 pages, 17 figures, to be published in proceedings of the CVPR, 201

Common Territory? : Comparing the IMP Approach with Economic Geography

The IMP research tradition has always been open to the cross-fertilisation of ideas with other social science disciplines that study similar phenomena. Recent years have seen a growing interest among IMP researchers in phenomena such as regional strategic networks, spatial clusters and innovation and new business development in networks. IMP papers published on these topics are increasingly citing conceptual frameworks and empirical findings from the field of economic geography. This paper discusses the development of IMP thought and the development of thought in economic geography (particularly evolutionary economic geography), and compares their approaches to the analysis of regional phenomena. The goal is to identify key ideas from economic geography that have been under-exploited in IMP research, in order to suggest original new approaches available to IMP researchers interested in these fields. A number of such ideas are explored: proximity as a multi-dimensional and multi-faceted concept; the distinction between, and relative importance of, learning activities arising automatically from being embedded in a community (local or regional buzz) and learning activities arising from positive investment in channels of communication (pipelines); the concept of relational capital developed by economic geographers; and, conceptualisations of externalities commonly used in the study of spatial clustersPeer reviewedFinal Accepted Versio

Electrophysiological signatures of conceptual and lexical retrieval from semantic memory

Retrieval from semantic memory of conceptual and lexical information is essential for producing speech. It is unclear whether there are differences in the neural mechanisms of conceptual and lexical retrieval when spreading activation through semantic memory is initiated by verbal or nonverbal settings. The same twenty participants took part in two EEG experiments. The first experiment examined conceptual and lexical retrieval following nonverbal settings, whereas the second experiment was a replication of previous studies examining conceptual and lexical retrieval following verbal settings. Target pictures were presented after constraining and nonconstraining contexts. In the nonverbal settings, contexts were provided as two priming pictures (e.g., constraining: nest, feather; nonconstraining: anchor, lipstick; target picture: BIRD). In the verbal settings, contexts were provided as sentences (e.g., constraining: “The farmer milked a...”; nonconstraining: “The child drew a...”; target picture: COW). Target pictures were named faster following constraining contexts in both experiments, indicating that conceptual preparation starts before target picture onset in constraining conditions. In the verbal experiment, we replicated the alpha-beta power decreases in constraining relative to nonconstraining conditions before target picture onset. No such power decreases were found in the nonverbal experiment. Power decreases in constraining relative to nonconstraining conditions were significantly different between experiments. Our findings suggest that participants engage in conceptual preparation following verbal and nonverbal settings, albeit differently. The retrieval of a target word, initiated by verbal settings, is associated with alpha-beta power decreases. By contrast, broad conceptual preparation alone, prompted by nonverbal settings, does not seem enough to elicit alpha-beta power decreases. These findings have implications for theories of oscillations and semantic memory

Supersymmetric gauge theories, Coulomb gases and Chern-Simons matrix models

We develop Coulomb gas pictures of strong and weak coupling regimes of supersymmetric Yang-Mills theory in five and four dimensions. By relating them to the matrix models that arise in Chern-Simons theory, we compute their free energies in the large N limit and establish relationships between the respective gauge theories. We use these correspondences to rederive the N^3 behaviour of the perturbative free energy of supersymmetric gauge theory on certain toric Sasaki-Einstein five-manifolds, and the one-loop thermal free energy of N=4 supersymmetric Yang-Mills theory on a spatial three-sphere.Comment: 17 pages; v2: reference adde