Computational mechanisms for colour and lightness constancy

Attributes of colour images have been found which allow colour and lightness constancy to be computed without prior knowledge of the illumination, even in complex scenes with three -dimensional objects and multiple light sources of different colours. The ratio of surface reflectance colour can be immediately determined between any two image points, however distant. It is possible to determine the number of spectrally independent light sources, and to isolate the effect of each. Reflectance edges across which the illumination remains constant can be correctly identified.In a scene illuminated by multiple distant point sources of distinguishalbe colours, the spatial angle between the sources and their brightness ratios can be computed from the image alone. If there are three or more sources then reflectance constancy is immediately possible without use of additional knowledge.The results are an extension of Edwin Land's Retinex algorithm. They account for previously unexplained data such as Gilchrist's veiling luminances and his single- colour rooms.The validity of the algorithms has been demonstrated by implementing them in a series of computer programs. The computational methods do not follow the edge or region finding paradigms of previous vision mechanisms. Although the new reflectance constancy cues occur in all normal scenes, it is likely that human vision makes use of only some of them.In a colour image all the pixels of a single surface colour lie in a single structure in flux space. The dimension of the structure equals the number of illumination colours. The reflectance ratio between two regions is determined by the transformation between their structures. Parallel tracing of edge pairs in their respective structures identifies an edge of constant illumination, and gives the lightness ratio of each such edge. Enhanced noise reduction techniques for colour pictures follow from the natural constraints on the flux structures

A Review of Modelling and Simulation Methods for Flashover Prediction in Confined Space Fires

Confined space fires are common emergencies in our society. Enclosure size, ventilation, or type and quantity of fuel involved are factors that determine the fire evolution in these situations. In some cases, favourable conditions may give rise to a flashover phenomenon. However, the difficulty of handling this complicated emergency through fire services can have fatal consequences for their staff. Therefore, there is a huge demand for new methods and technologies to tackle this life-threatening emergency. Modelling and simulation techniques have been adopted to conduct research due to the complexity of obtaining a real cases database related to this phenomenon. In this paper, a review of the literature related to the modelling and simulation of enclosure fires with respect to the flashover phenomenon is carried out. Furthermore, the related literature for comparing images from thermal cameras with computed images is reviewed. Finally, the suitability of artificial intelligence (AI) techniques for flashover prediction in enclosed spaces is also surveyed.This work has been partially funded by the Spanish Government TIN2017-89069-R grant supported with Feder funds. This work was supported in part by the Spanish Ministry of Science, Innovation and Universities through the Project ECLIPSE-UA under Grant RTI2018-094283-B-C32 and the Lucentia AGI Grant

Formation Navigation and Relative Localisation of Multi-Robot Systems

When proceeding from single to multiple robots, cooperative action is one of the most relevant topics. The domain of robotic security systems contains typical applications for a multi-robot system (MRS). Possible scenarios are safety and security issues on airports, harbours, large industry plants or museums. Additionally, the field of environmental supervision is an up-coming issue. Inherent to these applications is the need for an organised and coordinated navigation of the robots, and a vital prerequisite for any coordinated movements is a good localisation. This dissertation will present novel approaches to the problems of formation navigation and relative localisation with multiple ground-based mobile robots. It also looks into the question what kind of metric is applicable for multi-robot navigation problems. Thereby, the focus of this work will be on aspects of 1. coordinated navigation and movement A new potential-field-based approach to formation navigation is presented. In contradiction to classical potential-field-based formation approaches, the proposed method also uses the orientation between neighbours in the formation. Consequently, each robot has a designated position within the formation. Therefore, the new method is called directed potential field approach. Extensive experiments prove that the method is capable of generating all kinds of formation shapes, even in the presence of dense obstacles. All tests have been conducted with simulated and real robots and successfully guided the robot formation through environments with varying obstacle configurations. In comparison, the nondirected potential field approach turns out to be unstable regarding the positions of the robots within formations. The robots strive to switch their positions, e.g. when passing through narrow passages. Under such conditions the directed approach shows a preferable behaviour, called “breathing”. The formation shrinks or inflates depending on the obstacle situation while trying to maintain its shape and keep the robots at their desired positions inside the formation. For a more particular comparison of formation algorithms it is important to have measures that allow a meaningful evaluation of the experimental data. For this purpose a new formation metric is developed. If there are many obstacles, the formation error must be scaled down to be comparable to an empty environment where the error would be small. Assuming that the environment is unknown and possibly non-static, only actual sensor information can be used for these calculations. We developed a special weighting factor, which is inverse proportional to the “density” of obstacles and which turns out to model the influence of the environment adequately. 2. relative localisation A new method for relative localisation between the members of a robot group is introduced. This relative localisation approach uses mutual sensor observations to localise the robots with respect to other objects – without having an environment model. Techniques like the Extended Kalman Filter (EKF) have proven to be powerful tools in the field of single robot applications. This work presents extensions to these algorithms with respect to the use in MRS. These aspects are investigated and combined under the topic of improving and stabilising the performance of the localisation and navigation process. Most of the common localisation approaches use maps and/or landmarks with the intention of generating a globally consistent world-coordinate system for the robot group. The aim of the here presented relative localisation approach, on the other hand, is to maintain only relative positioning between the robots. The presented method enables a group of mobile robots to start at an unknown location in an unknown environment and then to incrementally estimate their own positions and the relative locations of the other robots using only sensor information. The result is a robust, fast and precise approach, which does not need any preconditions or special assumptions about the environment. To validate the approach extensive tests with both, real and simulated, robots have been conducted. For a more specific evaluation, the Mean Localisation Error (MLE) is introduced. The conducted experiments include a comparison between the proposed Extended Kalman Filter and a standard SLAM-based approach. The developed method robustly delivered an accuracy better than 2 cm and performed at least as well as the SLAM approach. The algorithm coped with scattered groups of robots while moving on arbitrarily shaped paths. In summary, this thesis presents novel approaches to the field of coordinated navigation in multi-robot systems. The results facilitate cooperative movements of robot groups as well as relative localisation among the group members. In addition, a solid foundation for a non-environment related metric for formation navigation is introduced

Postmodernism: Style and Subversion 1970-1990

‘Postmodernism’ was the final instalment of a 12-year series of V&A exhibitions exploring 20th-century design. It examined a diverse collection of creative practices in art, architecture, design, fashion, graphics, film, performance and pop music/video, which the curators, Pavitt and Adamson (V&A/RCA), identified under the common theme of ‘postmodernism’. The exhibition assessed the rise and decline of postmodern strategies in art and style cultures of the period, exploring their radical impact as well as their inextricable links with the economics and effects of late-capitalist culture. The exhibition comprised over 250 objects, including large-scale reconstructions and archive film/video footage, drawn from across Europe, Japan and the USA. It was the first exhibition to bring together this range of material and to foreground the significance of pop music and performance in the development of postmodernism. Pavitt originated and co-curated the exhibition with Adamson. They shared intellectual ownership of the project and equal responsibility for writing and editing the accompanying 320-page book (including a 40,000-word jointly written introduction), but divided research responsibilities according to geography and subject. The research was conducted over four years, with Pavitt leading on European and British material. This involved interviewing artists, designers and architects active in the period and working with collections and archives across Europe. The research led to the acquisition of c.80 objects for the V&A’s permanent collections, making it one of the most significant public collections of late-20th-century design in the world. The exhibition was critically reviewed worldwide. For the Independent, ‘bright ideas abound at the V&A’s lucid show’ (2011). It attracted 115,000 visitors at the V&A (15% over the Museum’s target) and travelled in 2012 to MART Rovereto, Italy (50,000 visitors) and Landesmuseum Zürich, Switzerland (70,000 visitors). Pavitt was invited to speak about the exhibition in the UK, USA, Poland, Portugal, Ireland and Italy (2010-12)

Toward color image segmentation in analog VLSI: Algorithm and hardware

Standard techniques for segmenting color images are based on finding normalized RGB discontinuities, color histogramming, or clustering techniques in RGB or CIE color spaces. The use of the psychophysical variable hue in HSI space has not been popular due to its numerical instability at low saturations. In this article, we propose the use of a simplified hue description suitable for implementation in analog VLSI. We demonstrate that if theintegrated white condition holds, hue is invariant to certain types of highlights, shading, and shadows. This is due to theadditive/shift invariance property, a property that other color variables lack. The more restrictive uniformly varying lighting model associated with themultiplicative/scale invariance property shared by both hue and normalized RGB allows invariance to transparencies, and to simple models of shading and shadows. Using binary hue discontinuities in conjunction with first-order type of surface interpolation, we demonstrate these invariant properties and compare them against the performance of RGB, normalized RGB, and CIE color spaces. We argue that working in HSI space offers an effective method for segmenting scenes in the presence of confounding cues due to shading, transparency, highlights, and shadows. Based on this work, we designed and fabricated for the first time an analog CMOS VLSI circuit with on-board phototransistor input that computes normalized color and hue