Keyframe-based monocular SLAM: design, survey, and future directions

Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality. Although filter-based monocular SLAM systems were common at some time, the more efficient keyframe-based solutions are becoming the de facto methodology for building a monocular SLAM system. The objective of this paper is threefold: first, the paper serves as a guideline for people seeking to design their own monocular SLAM according to specific environmental constraints. Second, it presents a survey that covers the various keyframe-based monocular SLAM systems in the literature, detailing the components of their implementation, and critically assessing the specific strategies made in each proposed solution. Third, the paper provides insight into the direction of future research in this field, to address the major limitations still facing monocular SLAM; namely, in the issues of illumination changes, initialization, highly dynamic motion, poorly textured scenes, repetitive textures, map maintenance, and failure recovery

The Diabetes Manual trial protocol – a cluster randomized controlled trial of a self-management intervention for type 2 diabetes [ISRCTN06315411]

Background The Diabetes Manual is a type 2 diabetes self-management programme based upon the clinically effective 'Heart Manual'. The 12 week programme is a complex intervention theoretically underpinned by self-efficacy theory. It is a one to one intervention meeting United Kingdom requirements for structured diabetes-education and is delivered within routine primary care. Methods/design In a two-group cluster randomized controlled trial, GP practices are allocated by computer minimisation to an intervention group or a six-month deferred intervention group. We aim to recruit 250 participants from 50 practices across central England. Eligibility criteria are adults able to undertake the programme with type 2 diabetes, not taking insulin, with HbA1c over 8% (first 12 months) and following an agreed protocol change over 7% (months 13 to 18). Following randomisation, intervention nurses receive two-day training and delivered the Diabetes Manual programme to participants. Deferred intervention nurses receive the training following six-month follow-up. Primary outcome is HbA1c with total and HDL cholesterol; blood pressure, body mass index; self-efficacy and quality of life as additional outcomes. Primary analysis is between-group HbA1c differences at 6 months powered to give 80% power to detect a difference in HbA1c of 0.6%. A 12 month cohort analysis will assess maintenance of effect and assess relationship between self-efficacy and outcomes, and a qualitative study is running alongside. Discussion This trial incorporates educational and psychological diabetes interventions into a single programme and assesses both clinical and psychosocial outcomes. The trial will increase our understanding of intervention transferability between conditions, those diabetes related health behaviours that are more or less susceptible to change through efficacy enhancing mechanisms and how this impacts on clinical outcomes

A Systematic Review of the Efficacy of Motivational Interviewing on Occupational Performance

This systematic review aims to review the efficacy of MI to address such performance goals falling within the occupational therapy scope of practice

Application DFA And AHP In Design Evaluation Process For Environmental Performance In The Conceptual Design Stage A Case Study

This thesis basically discusses on the application of design for assembly (DFA) method and multi criteria decision making (MCDM) tool namely analytic hierarchy process (AHP). The main objective of this study is to apply both DFA and AHP in conceptual design stage to evaluate the environmental performance of a product. Conceptual design stage is a stage where no final decision has yet been made, therefore giving more flexibility to designer to focus on environmental aspect in their design. This study was conducted by using mechanical pencil design as case study. 5 conceptual designs were developed and 3 type analysis based on Lucas DFA method were done to evaluate the design functional efficiency, feeding ratio, and fitting ratio. 10 selection criteria for AHP were considered based on literature studies which are recyclable material, renewable material, number of parts, durability, modularity, ease of maintenance, ease of disassembly, functional efficiency, feeding ratio, and fitting ratio. Through the literature study, judgements through pairwise comparison were done to the selection criteria with respect to the goal. This is to select the optimum design that has the highest environmental performance. Functional efficiency has the highest priority vector as much as 33.4% while the least important criteria is shared by feeding ratio and fitting ratio with priority vector of 1.97%. At the final stage of AHP, each alternative were sorted based on their priority vector. Conceptual design 5 was ranked 1st with priority vector of 30.41%, followed by conceptual design 2 with priority vector of 21.2%. Conceptual design 4 and conceptual design 1 followed on 3rd and 4th in ranking with priority vector of 19.49% and 15% respectively. The least preferred alternative is conceptual design 3 with priority vector of 14.02%. Then, several sets of sensitivity analysis were carried out by using Expert Choice software to study whether any changes on the selection criteria’s priority vector will affect the conceptual design ranking that were obtained on previous AHP analysis

A methodology for producing reliable software, volume 1

An investigation into the areas having an impact on producing reliable software including automated verification tools, software modeling, testing techniques, structured programming, and management techniques is presented. This final report contains the results of this investigation, analysis of each technique, and the definition of a methodology for producing reliable software

Prediction of classroom reverberation time using neural network

In this paper, an alternative method for predicting the reverberation time (RT) using neural network (NN) for classroom was designed and explored. Classroom models were created using Google SketchUp software. The NN applied training dataset from the classroom models with RT values that were computed from ODEON 12.10 software. The NN was conducted separately for 500Hz, 1000Hz, and 2000Hz as absorption coefficient that is one of the prominent input variable is frequency dependent. Mean squared error (MSE) and regression (R) values were obtained to examine the NN efficiency. Overall, the NN shows a good result with MSE 0.9. The NN also managed to achieve a percentage of accuracy of 92.53% for 500Hz, 93.66% for 1000Hz, and 93.18% for 2000Hz and thus displays a good and efficient performance. Nevertheless, the optimum RT value is range between 0.75 – 0.9 seconds

The systematic guideline review: method, rationale, and test on chronic heart failure

Background: Evidence-based guidelines have the potential to improve healthcare. However, their de-novo-development requires substantial resources-especially for complex conditions, and adaptation may be biased by contextually influenced recommendations in source guidelines. In this paper we describe a new approach to guideline development-the systematic guideline review method (SGR), and its application in the development of an evidence-based guideline for family physicians on chronic heart failure (CHF). Methods: A systematic search for guidelines was carried out. Evidence-based guidelines on CHF management in adults in ambulatory care published in English or German between the years 2000 and 2004 were included. Guidelines on acute or right heart failure were excluded. Eligibility was assessed by two reviewers, methodological quality of selected guidelines was appraised using the AGREE instrument, and a framework of relevant clinical questions for diagnostics and treatment was derived. Data were extracted into evidence tables, systematically compared by means of a consistency analysis and synthesized in a preliminary draft. Most relevant primary sources were re-assessed to verify the cited evidence. Evidence and recommendations were summarized in a draft guideline. Results: Of 16 included guidelines five were of good quality. A total of 35 recommendations were systematically compared: 25/35 were consistent, 9/35 inconsistent, and 1/35 un-rateable (derived from a single guideline). Of the 25 consistencies, 14 were based on consensus, seven on evidence and four differed in grading. Major inconsistencies were found in 3/9 of the inconsistent recommendations. We re-evaluated the evidence for 17 recommendations (evidence-based, differing evidence levels and minor inconsistencies) - the majority was congruent. Incongruity was found where the stated evidence could not be verified in the cited primary sources, or where the evaluation in the source guidelines focused on treatment benefits and underestimated the risks. The draft guideline was completed in 8.5 man-months. The main limitation to this study was the lack of a second reviewer. Conclusion: The systematic guideline review including framework development, consistency analysis and validation is an effective, valid, and resource saving-approach to the development of evidence-based guidelines

Beef Cattle Instance Segmentation Using Fully Convolutional Neural Network

In this paper we present a novel instance segmentation algorithm that extends a fully convolutional network to learn to label objects separately without prediction of regions of interest. We trained the new algorithm on a challenging CCTV recording of beef cattle, as well as benchmark MS COCO and Pascal VOC datasets. Extensive experimentation showed that our approach outperforms the state-of-the-art solutions by up to 8% on our data