A distributed Quadtree Dictionary approach to multi-resolution visualization of scattered neutron data

Grid computing is described as dependable, seamless, pervasive access to resources and services, whereas mobile computing allows the movement of people from place to place while staying connected to resources at each location. Mobile grid computing is a new computing paradigm, which joins these two technologies by enabling access to the collection of resources within a user\u27s virtual organization while still maintaining the freedom of mobile computing through a service paradigm. A major problem in virtual organization is needs mismatch, in which one resources requests a service from another resources it is unable to fulfill, since virtual organizations are necessarily heterogeneous collections of resources. In this dissertation we propose a solution to the needs mismatch problem in the case of high energy physics data. Specifically, we propose a Quadtree Dictionary (QTD) algorithm to provide lossless, multi-resolution compression of datasets and enable their visualization on devices of all capabilities. As a prototype application, we extend the Integrated Spectral Analysis Workbench (ISAW) developed at the Intense Pulsed Neutron Source Division of the Argonne National Laboratory into a mobile Grid application, Mobile ISAW. In this dissertation we compare our QTD algorithm with several existing compression techniques on ISAW\u27s Single-Crystal Diffractometer (SCD) datasets. We then extend our QTD algorithm to a distributed setting and examine its effectiveness on the next generation of SCD datasets. In both a serial and distributed setting, our QTD algorithm performs no worse than existing techniques such as the square wavelet transform in terms of energy conservation, while providing the worst-case savings of 8:1

Probabilistic segmentation of remotely sensed images

For information extraction from image data to create or update geographic information systems, objects are identified and labeled using an integration of segmentation and classification. This yields geometric and thematic information, respectively.Bayesian image classifiers calculate class posterior probabilities on the basis of estimated class probability densities and prior probabilities. This thesis presents refined probability estimates, which are local, i.e pertain to image regions, rather than to the entire image. Local class probability densities are estimated in a non-parametric way with an extended k-Nearest Neighbor method. Iterative estimation of class mixing proportions in arbitrary image regions yields local prior probabilities.The improved estimates of prior probabilities and probability densities increase the reliability of posterior probabilities and enhance subsequent decision making, such as maximum posterior probability class selection. Moreover, class areas are estimated more accurately, compared to standard Maximum Likelihood classification.Two sources of image regionalization are distinguished. Ancillary data in geographic information systems often divide the image area into regions with different class mixing proportions, in which probabilities are estimated. Otherwise, a regionalization can be obtained by image segmentation. A region based method is presented, being a generalization of connected component labeling in the quadtree domain. It recursively merges leaves in a quadtree representation of a multi-spectral image into segments with arbitrary shapes and sizes. Order dependency is avoided by applying the procedure iteratively with slowly relaxing homogeneity criteria.Region fragmentation and region merging, caused by spectral variation within objects and spectral similarity between adjacent objects, are avoided by regarding class homogeneity in addition to spectral homogeneity. As expected, most terrain objects correspond to image segments. These, however, reside at different levels in a segmentation pyramid. Therefore, class mixing proportions are estimated in all segments of such a pyramid to distinguish between pure and mixed ones. Pure segments are selected at the highest possible level, which may vary over the image. They form a non-overlapping set of labeled objects without fragmentation or merging. In image areas where classes cannot be separated, because of spatial or spectral resolution limitations, mixed segments are selected from the pyramid. They form uncertain objects, to which a mixture of classes with known proportion is assigned.Subsequently, remotely sensed data are used for taking decisions in geographical information systems. These decisions are usually based on crisp classifications and, therefore, influenced by classification errors and uncertainties. Moreover, when processing spatial data for decision making, the objectives and preferences of the decision maker are crucial to deal with. This thesis proposes to exploit mathematical decision analysis for integrating uncertainties and preferences, on the basis of carefully estimated probabilistic class information. It aims to solve complex decision problems on the basis of remotely sensed data.</p

System of Terrain Analysis, Energy Estimation and Path Planning for Planetary Exploration by Robot Teams

NASA’s long term plans involve a return to manned moon missions, and eventually sending humans to mars. The focus of this project is the use of autonomous mobile robotics to enhance these endeavors. This research details the creation of a system of terrain classification, energy of traversal estimation and low cost path planning for teams of inexpensive and potentially expendable robots. The first stage of this project was the creation of a model which estimates the energy requirements of the traversal of varying terrain types for a six wheel rocker-bogie rover. The wheel/soil interaction model uses Shibly’s modified Bekker equations and incorporates a new simplified rocker-bogie model for estimating wheel loads. In all but a single trial the relative energy requirements for each soil type were correctly predicted by the model. A path planner for complete coverage intended to minimize energy consumption was designed and tested. It accepts as input terrain maps detailing the energy consumption required to move to each adjacent location. Exploration is performed via a cost function which determines the robot’s next move. This system was successfully tested for multiple robots by means of a shared exploration map. At peak efficiency, the energy consumed by our path planner was only 56% that used by the best case back and forth coverage pattern. After performing a sensitivity analysis of Shibly’s equations to determine which soil parameters most affected energy consumption, a neural network terrain classifier was designed and tested. The terrain classifier defines all traversable terrain as one of three soil types and then assigns an assumed set of soil parameters. The classifier performed well over all, but had some difficulty distinguishing large rocks from sand. This work presents a system which successfully classifies terrain imagery into one of three soil types, assesses the energy requirements of terrain traversal for these soil types and plans efficient paths of complete coverage for the imaged area. While there are further efforts that can be made in all areas, the work achieves its stated goals

Field D* pathfinding in weighted simplicial complexes

Includes abstract.Includes bibliographical references.The development of algorithms to efficiently determine an optimal path through a complex environment is a continuing area of research within Computer Science. When such environments can be represented as a graph, established graph search algorithms, such as Dijkstra’s shortest path and A*, can be used. However, many environments are constructed from a set of regions that do not conform to a discrete graph. The Weighted Region Problem was proposed to address the problem of finding the shortest path through a set of such regions, weighted with values representing the cost of traversing the region. Robust solutions to this problem are computationally expensive since finding shortest paths across a region requires expensive minimisation. Sampling approaches construct graphs by introducing extra points on region edges and connecting them with edges criss-crossing the region. Dijkstra or A* are then applied to compute shortest paths. The connectivity of these graphs is high and such techniques are thus not particularly well suited to environments where the weights and representation frequently change. The Field D* algorithm, by contrast, computes the shortest path across a grid of weighted square cells and has replanning capabilites that cater for environmental changes. However, representing an environment as a weighted grid (an image) is not space-efficient since high resolution is required to produce accurate paths through areas containing features sensitive to noise. In this work, we extend Field D* to weighted simplicial complexes – specifically – triangulations in 2D and tetrahedral meshes in 3D

optimización da planificación de adquisición de datos LIDAR cara ó modelado 3D de interiores

The main objective of this doctoral thesis is the design, validation and implementation of methodologies that allow the geometric and topological modelling of navigable spaces, whether inside buildings or urban environments, to be integrated into three-dimensional geographic information systems (GIS-3D). The input data of this work will consist mainly of point clouds (which can be classified) acquired by LiDAR systems both indoors and outdoors. In addition, the use of BIM infrastructure models and cadastral maps is proposed depending on their availability. Point clouds provide a large amount of environmental information with high accuracy compared to data offered by other acquisition technologies. However, the lack of data structure and volume requires a great deal of processing effort. For this reason, the first step is to structure the data by dividing the input cloud into simpler entities that facilitate subsequent processes. For this first division, the physical elements present in the cloud will be considered, since they can be walls in the case of interior environments or kerbs in the case of exteriors. In order to generate navigation routes adapted to different mobile agents, the next objective will try to establish a semantic subdivision of space according to the functionalities of space. In the case of internal environments, it is possible to use BIM models to evaluate the results and the use of cadastral maps that support the division of the urban environment. Once the navigable space is divided, the design of topologically coherent navigation networks will be parameterized both geometrically and topologically. For this purpose, several spatial discretization techniques, such as 3D tessellations, will be studied to facilitate the establishment of topological relationships, adjacency, connectivity and inclusion between subspaces. Based on the geometric characterization and the topological relations established in the previous phase, the creation of three-dimensional navigation networks with multimodal support will be addressed and different levels of detail will be considered according to the mobility specifications of each agent and its purpose. Finally, the possibility of integrating the networks generated in a GIS-3D visualization system will be considered. For the correct visualization, the level of detail can be adjusted according to geometry and semantics. Aspects such as the type of user or transport, mobility, rights of access to spaces, etc. They must be considered at all times.El objetivo principal de esta tesis doctoral es el diseño, la validación y la implementación de metodologías que permitan el modelado geométrico y topológico de espacios navegables, ya sea de interiores de edificios o entornos urbanos, para integrarse en sistemas de información geográfica tridimensional (SIG). -3D). Los datos de partida de este trabajo consistirán principalmente en nubes de puntos (que pueden estar clasificados) adquiridas por sistemas LiDAR tanto en interiores como en exteriores. Además, se propone el uso de modelos BIM de infraestructuras y mapas catastrales en función de su disponibilidad. Las nubes de puntos proporcionan una gran cantidad de información del entorno con gran precisión con respecto a los datos ofrecidos por otras tecnologías de adquisición. Sin embargo, la falta de estructura de datos y su volumen requiere un gran esfuerzo de procesamiento. Por este motivo, el primer paso que se debe realizar consiste en estructurar los datos dividiendo la nube de entrada en entidades más simples que facilitan los procesos posteriores. Para esta primera división se considerarán los elementos físicos presentes en la nube, ya que pueden ser paredes en el caso de entornos interiores o bordillos en el caso de los exteriores. Con el propósito de generar rutas de navegación adaptadas a diferentes agentes móviles, el próximo objetivo intentará establecer una subdivisión semántica del espacio de acuerdo con las funcionalidades del espacio. En el caso de entornos internos, es posible utilizar modelos BIM para evaluar los resultados y el uso de mapas catastrales que sirven de apoyo en la división del entorno urbano. Una vez que se divide el espacio navegable, se parametrizará tanto geométrica como topológicamente al diseño de redes de navegación topológicamente coherentes. Para este propósito, se estudiarán varias técnicas de discretización espacial, como las teselaciones 3D, para facilitar el establecimiento de relaciones topológicas, la adyacencia, la conectividad y la inclusión entre subespacios. A partir de la caracterización geométrica y las relaciones topológicas establecidas en la fase anterior, se abordará la creación de redes de navegación tridimensionales con soporte multimodal y se considerarán diversos niveles de detalle según las especificaciones de movilidad de cada agente y su propósito. Finalmente, se contemplará la posibilidad de integrar las redes generadas en un sistema de visualización tridimensional 3D SIG 3D. Para la correcta visualización, el nivel de detalle se puede ajustar en función de la geometría y la semántica. Aspectos como el tipo de usuario o transporte, movilidad, derechos de acceso a espacios, etc. Deben ser considerados en todo momento.O obxectivo principal desta tese doutoral é o deseño, validación e implementación de metodoloxías que permitan o modelado xeométrico e topolóxico de espazos navegables, ben sexa de interiores de edificios ou de entornos urbanos, ca fin de seren integrados en Sistemas de Información Xeográfica tridimensionais (SIX-3D). Os datos de partida deste traballo constarán principalmente de nubes de puntos (que poden estar clasificadas) adquiridas por sistemas LiDAR tanto en interiores como en exteriores. Ademáis plantease o uso de modelos BIM de infraestruturas e mapas catastrais dependendo da súa dispoñibilidade. As nubes de puntos proporcionan unha gran cantidade de información do entorno cunha gran precisión respecto os datos que ofrecen outras tecnoloxías de adquisición. Sen embargo, a falta de estrutura dos datos e a seu volume esixe un amplo esforzo de procesado. Por este motivo o primeiro paso a levar a cabo consiste nunha estruturación dos datos mediante a división da nube de entrada en entidades máis sinxelas que faciliten os procesos posteriores. Para esta primeira división consideraranse elementos físicos presentes na nube como poden ser paredes no caso de entornos interiores ou bordillos no caso de exteriores. Coa finalidade de xerar rutas de navegación adaptadas a distintos axentes móbiles, o seguinte obxectivo tratará de establecer unha subdivisión semántica do espazo de acordo as funcionalidades do espazo. No caso de entornos interiores plantease a posibilidade de empregar modelos BIM para avaliar os resultados e o uso de mapas catastrais que sirvan de apoio na división do entorno urbano. Unha vez divido o espazo navigable parametrizarase tanto xeométricamente como topolóxicamene de cara ao deseño de redes de navegación topolóxicamente coherentes. Para este fin estudaranse varias técnicas de discretización de espazos como como son as teselacións 3D co obxectivo de facilitar establecer relacións topolóxicas, de adxacencia, conectividade e inclusión entre subespazos. A partir da caracterización xeométrica e das relación topolóxicas establecidas na fase previa abordarase a creación de redes de navegación tridimensionais con soporte multi-modal e considerando varios niveis de detalle de acordo as especificacións de mobilidade de cada axente e a súa finalidade. Finalmente comtemplarase a posibilidade de integrar as redes xeradas nun sistema SIX 3D visualización tridimensional. Para a correcta visualización o nivel de detalle poderá axustarse en base a xeometría e a semántica. Aspectos como o tipo de usuario ou transporte, mobilidade, dereitos de acceso a espazos, etc. deberán ser considerados en todo momento

Hypermaps - Beyond occupancy grids

Intelligent and autonomous robotic applications often require robots to have more information about their environment than provided by traditional occupancy maps. An example are semantic maps, which provide qualitative descriptions of the environment. While research in the area of semantic mapping has been performed, most robotic frameworks still offer only occupancy maps. In this thesis, a framework is developed to handle multi-layered 2D maps in ROS. The framework offers occupancy and semantic layers, but can be extended with new layer types in the future. Furthermore, an algorithm to automatically generate semantic maps from RGB-D images is presented. Software tests were performed to check if the framework fulfills all set requirements. It was shown that the requirements are accomplished. Furthermore, the semantic mapping algorithm was evaluated with different configurations in two test environments, a laboratory and a floor. While the object shapes of the generated semantic maps were not always accurate and some false detections occurred, most objects were successfully detected and placed on the semantic map. Possible ways to improve the accuracy of the mapping in the future are discussed

Performance Evaluation of Pathfinding Algorithms

Pathfinding is the search for an optimal path from a start location to a goal location in a given environment. In Artificial Intelligence pathfinding algorithms are typically designed as a kind of graph search. These algorithms are applicable in a wide variety of applications such as computer games, robotics, networks, and navigation systems. The performance of these algorithms is affected by several factors such as the problem size, path length, the number and distribution of obstacles, data structures and heuristics. When new pathfinding algorithms are proposed in the literature, their performance is often investigated empirically (if at all). Proper experimental design and analysis is crucial to provide an informative and non- misleading evaluation. In this research, we survey many papers and classify them according to their methodology, experimental design, and analytical techniques. We identify some weaknesses in these areas that are all too frequently found in reported approaches. We first found the pitfalls in pathfinding research and then provide solutions by creating example problems. Our research shows that spurious effects, control conditions provide solutions to avoid these pitfalls

Characteristics of Indoor Disaster Environments and their impact on Simultaneous Localization and Mapping for Small Unmanned Aerial Systems

This thesis explores the use of small unmanned aerial systems (SUASs) for mapping of unknown disaster environments and investigates the impact of characteristics of such challenging environments on simultaneous localization and mapping (SLAM) algorithm. It provides a formal analysis of indoor disaster environments and identifies four characteristics of a region of space: scale, degree of deconstruction, location of obstacles, and tortuosity. The analysis compares the value of these characteristics for Prop 133 at Disaster City and develops computer simulated environments. Furthermore, a SLAM algorithm for SUAS flying in indoor disaster environments is developed and the system is tested in these virtual environments. Three different environments with increasing deconstruction are designed. For each type of environment, 10 different maps with a common floor plan are simulated with randomly placed obstacles. For each map, three trials with varying flight paths are run, thus conducting 90 trials of experimentation. As verified from the statistical testing, there is a convincing increase of 26.36% in the average value of RMSE as the deconstruction changes from Group 1 to Group 3. But, the change in value of error is not statistically convincing when Group 1 and 2 and, Group 2 and 3 are respectively compared. Hence, though the result suggest that the value of error increases between different groups, it cannot be claimed that the RMSE in localization will always increase with deconstruction. The tortuosity increases with deconstruction and this value is empirically calculated. The average RMSE in localization does not change as the Agent to Environment ratio changes. These results can help identify the remaining gaps in the state of the art indoor SUAS for disasters