Real Time Fusion of Radioisotope Direction Estimation and Visual Object Tracking

Research into discovering prohibited nuclear material plays an integral role in providing security from terrorism. Although many diverse methods contribute to defense, there exists a capability gap in localizing moving sources. This thesis introduces a real time radioisotope tracking algorithm assisted by visual object tracking methods to fill the capability gap. The proposed algorithm can estimate carrier likelihood for objects in its field of view, and is designed to assist a pedestrian agent wearing a backpack detector. The complex, crowd-filled, urban environments where this algorithm must function combined with the size and weight limitations of a pedestrian system makes designing a functioning algorithm challenging.The contribution of this thesis is threefold. First, a generalized directional estimator is proposed. Second, two state-of-the-art visual object detection and visual object tracking methods are combined into a single tracking algorithm. Third, those outputs are fused to produce a real time radioisotope tracking algorithm. This algorithm is designed for use with the backpack detector built by the IDEAS for WIND research group. This setup takes advantage of recent advances in detector, camera, and computer technologies to meet the challenging physical limitations.The directional estimator operates via gradient boosting regression to predict radioisotope direction with a variance of 50 degrees when trained on a simple laboratory dataset. Under conditions similar to other state-of-the-art methods, the accuracy is comparable. YOLOv3 and SiamFC are chosen by evaluating advanced visual tracking methods in terms of speed and efficiency across multiple architectures, and in terms of accuracy on datasets like the Visual Object Tracking (VOT) Challenge and Common Objects in Context (COCO). The resultant tracking algorithm operates in real time. The outputs of direction estimation and visual tracking are fused using sequential Bayesian inference to predict carrier likelihood. Using lab trials evaluated by hand on visual and nuclear data, and a synthesized challenge dataset using visual data from the Boston Marathon attack, it can be observed that this prototype system advances the state-of-the-art towards localization of a moving source

Noise in and as music

One hundred years after Luigi Russolo’s “The Art of Noises,” this book exposes a cross-section of the current motivations, activities, thoughts, and reflections of composers, performers, and artists who work with noise in all of its many forms. The book’s focus is the practice of noise and its relationship to music, and in particular the role of noise as musical material—as form, as sound, as notation or interface, as a medium for listening, as provocation, as data. Its contributors are first and foremost practitioners, which inevitably turns attention toward how and why noise is made and its potential role in listening and perceiving. Contributors include Peter Ablinger, Sebastian Berweck, Aaron Cassidy, Marko Ciciliani, Nick Collins, Aaron Einbond, Matthias Haenisch, Alec Hall, Martin Iddon, Bryan Jacobs, Phil Julian, Michael Maierhof, Joan Arnau Pàmies, and James Whitehead (JLIAT). The book also features a collection of short responses to a two-question “interview”—“what is noise (music) to you?” and “why do you make it?”—by some of the leading musicians working with noise today. Their work spans a wide range of artistic practice, including instrumental, vocal, and electronic music; improvisation; notated composition; theater; sound installation; DIY; and software development. Interview subjects include Eryck Abecassis, Franck Bedrossian, Antoine Chessex, Ryan Jordan, Alice Kemp (Germseed), George Lewis, Lasse Marhaug, Maja Solveig Kjelstrup Ratkje, Diemo Schwarz, Ben Thigpen, Kasper Toeplitz, and Pierre Alexandre Tremblay.Publishe

Between Air and Electricity

After the sound reproduction industry had claimed “perfect high fidelity” for sound recordings already at the beginning of the twentieth century, composers and sound artists challenged this perfection by tweaking microphones and loudspeakers to make them act as a musical instrument instead of a mere sound reproduction device. This book explores the instrumental use of microphones and loudspeakers in music beginning in the 1950s. The popular noise musician Merzbow, over-minimalist classic Alvin Lucier, cult instrument inventor Hugh Davies, and contemporary visual artist Lynn Pook made audible what was supposed to remain silent

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers