Accelerated High-Resolution Photoacoustic Tomography via Compressed Sensing

Current 3D photoacoustic tomography (PAT) systems offer either high image quality or high frame rates but are not able to deliver high spatial and temporal resolution simultaneously, which limits their ability to image dynamic processes in living tissue. A particular example is the planar Fabry-Perot (FP) scanner, which yields high-resolution images but takes several minutes to sequentially map the photoacoustic field on the sensor plane, point-by-point. However, as the spatio-temporal complexity of many absorbing tissue structures is rather low, the data recorded in such a conventional, regularly sampled fashion is often highly redundant. We demonstrate that combining variational image reconstruction methods using spatial sparsity constraints with the development of novel PAT acquisition systems capable of sub-sampling the acoustic wave field can dramatically increase the acquisition speed while maintaining a good spatial resolution: First, we describe and model two general spatial sub-sampling schemes. Then, we discuss how to implement them using the FP scanner and demonstrate the potential of these novel compressed sensing PAT devices through simulated data from a realistic numerical phantom and through measured data from a dynamic experimental phantom as well as from in-vivo experiments. Our results show that images with good spatial resolution and contrast can be obtained from highly sub-sampled PAT data if variational image reconstruction methods that describe the tissues structures with suitable sparsity-constraints are used. In particular, we examine the use of total variation regularization enhanced by Bregman iterations. These novel reconstruction strategies offer new opportunities to dramatically increase the acquisition speed of PAT scanners that employ point-by-point sequential scanning as well as reducing the channel count of parallelized schemes that use detector arrays.Comment: submitted to "Physics in Medicine and Biology

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

An Advanced Coupled Genetic Algorithm for Identifying Unknown Moving Loads on Bridge Decks

This study deals with an inverse method to identify moving loads on bridge decks using the finite element method (FEM) and a coupled genetic algorithm (c-GA). We developed the inverse technique using a coupled genetic algorithm that can make global solution searches possible as opposed to classical gradient-based optimization techniques. The technique described in this paper allows us to not only detect the weight of moving vehicles but also find their moving velocities. To demonstrate the feasibility of the method, the algorithm is applied to a bridge deck model with beam elements. In addition, 1D and 3D finite element models are simulated to study the influence of measurement errors and model uncertainty between numerical and real structures. The results demonstrate the excellence of the method from the standpoints of computation efficiency and avoidance of premature convergence

Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

Quaternion kinematics for the error-state KF

A complete compendium of Quaternion formulas, with applications to Kalman filtering for visual-inertial navigation.Preprin

BioEM: GPU-accelerated computing of Bayesian inference of electron microscopy images

In cryo-electron microscopy (EM), molecular structures are determined from large numbers of projection images of individual particles. To harness the full power of this single-molecule information, we use the Bayesian inference of EM (BioEM) formalism. By ranking structural models using posterior probabilities calculated for individual images, BioEM in principle addresses the challenge of working with highly dynamic or heterogeneous systems not easily handled in traditional EM reconstruction. However, the calculation of these posteriors for large numbers of particles and models is computationally demanding. Here we present highly parallelized, GPU-accelerated computer software that performs this task efficiently. Our flexible formulation employs CUDA, OpenMP, and MPI parallelization combined with both CPU and GPU computing. The resulting BioEM software scales nearly ideally both on pure CPU and on CPU+GPU architectures, thus enabling Bayesian analysis of tens of thousands of images in a reasonable time. The general mathematical framework and robust algorithms are not limited to cryo-electron microscopy but can be generalized for electron tomography and other imaging experiments

Game Theoretic Model Predictive Control for Autonomous Driving

This study presents two closely-related solutions to autonomous vehicle control problems in highway driving scenario using game theory and model predictive control. We first develop a game theoretic four-stage model predictive controller (GT4SMPC). The controller is responsible for both longitudinal and lateral movements of Subject Vehicle (SV) . It includes a Stackelberg game as a high level controller and a model predictive controller (MPC) as a low level one. Specifically, GT4SMPC constantly establishes and solves games corresponding to multiple gaps in front of multiple-candidate vehicles (GCV) when SV is interacting with them by signaling a lane change intention through turning light or by a small lateral movement. SV’s payoff is the negative of the MPC’s cost function , which ensures strong connection between the game and that the solution of the game is more likely to be achieved by a hybrid MPC (HMPC). GCV’s payoff is a linear combination of the speed payoff, headway payoff and acceleration payoff. . We use decreasing acceleration model to generate our prediction of TV’s future motion, which is utilized in both defining TV’s payoffs over the prediction horizon in the game and as the reference of the MPC. Solving the games gives the optimal gap and the target vehicle (TV). In the low level , the lane change process are divided into four stages: traveling in the current lane, leaving current lane, crossing lane marking, traveling in the target lane. The division identifies the time that SV should initiate actual lateral movement for the lateral controller and specifies the constraints HMPC should deal at each step of the MPC prediction horizon. Then the four-stage HMPC controls SV’s actual longitudinal motion and execute the lane change at the right moment. Simulations showed the GT4SMPC is able to intelligently drive SV into the selected gap and accomplish both discretionary land change (DLC) and mandatory lane change (MLC) in a dynamic situation. Human-in-the-loop driving simulation indicated that GT4SMPC can decently control the SV to complete lane changes with the presence of human drivers. Second, we propose a differential game theoretic model predictive controller (DGTMPC) to address the drawbacks of GT4SMPC. In GT4SMPC, the games are defined as table game, which indicates each players only have limited amount of choices for a specific game and such choice remain fixed during the prediction horizon. In addition, we assume a known model for traffic vehicles but in reality drivers’ preference is partly unknown. In order to allow the TV to make multiple decisions within the prediction horizon and to measure TV’s driving style on-line, we propose a differential game theoretic model predictive controller (DGTMPC). The high level of the hierarchical DGTMPC is the two-player differential lane-change Stackelberg game. We assume each player uses a MPC to control its motion and the optimal solution of leaders’ MPC depends on the solution of the follower. Therefore, we convert this differential game problem into a bi-level optimization problem and solves the problem with the branch and bound algorithm. Besides the game, we propose an inverse model predictive control algorithm (IMPC) to estimate the MPC weights of other drivers on-line based on surrounding vehicle’s real-time behavior, assuming they are controlled by MPC as well. The estimation results contribute to a more appropriate solution to the game against driver of specific type. The solution of the algorithm indicates the future motion of the TV, which can be used as the reference for the low level controller. The low level HMPC controls both the longitudinal motion of SV and his real-time lane decision. Simulations showed that the DGTMPC can well identify the weights traffic vehicles’ MPC cost function and behave intelligently during the interaction. Comparison with level-k controller indicates DGTMPC’s Superior performance

Development of an advanced pitch active control system for a wide body jet aircraft

An advanced PACS control law was developed for a commercial wide-body transport (Lockheed L-1011) by using modern control theory. Validity of the control law was demonstrated by piloted flight simulation tests on the NASA Langley visual motion simulator. The PACS design objective was to develop a PACS that would provide good flying qualities to negative 10 percent static stability margins that were equivalent to those of the baseline aircraft at a 15 percent static stability margin which is normal for the L-1011. Also, the PACS was to compensate for high-Mach/high-g instabilities that degrade flying qualities during upset recoveries and maneuvers. The piloted flight simulation tests showed that the PACS met the design objectives. The simulation demonstrated good flying qualities to negative 20 percent static stability margins for hold, cruise and high-speed flight conditions. Analysis and wind tunnel tests performed on other Lockheed programs indicate that the PACS could be used on an advanced transport configuration to provide a 4 percent fuel savings which results from reduced trim drag by flying at negative static stability margins

The History of the Quantitative Methods in Finance Conference Series. 1992-2007

This report charts the history of the Quantitative Methods in Finance (QMF) conference from its beginning in 1993 to the 15th conference in 2007. It lists alphabetically the 1037 speakers who presented at all 15 conferences and the titles of their papers.