Improvements in Multi-tool Surveying Efficiency for Archaeological Geophysics

Conventional archaeological excavation methods are, by nature, extremely invasive and result in study areas being irrevocably altered for the sake of research. For this reason, near-surface geophysical techniques have been incorporated into archaeological investigations to aid in determining the locations of buried features with minimal damage to the site. The objective of this research was to perform a geophysical survey at an archaeological site on the Akrotiri Peninsula in Cyprus to locate evidence of a Roman naval base and to develop an improved data management workflow that will improve the usefulness of geophysical data to archaeologists. An on-site archaeologist determined three separate locations as areas of interest to be surveyed using both ground penetrating radar (GPR) and magnetic gradiometry. He then chose site boundaries based in part by the presence of natural obstacles (i.e., bushes, protruding rock, etc.) and by the lateral extent of surface remains. We collected data with transects running perpendicular to the predicted orientation of features. A total of fifty-two, 10m by 10m grids were surveyed using both geophysical techniques. The geophysics team processed data using ArcheoSurveyor (magnetic gradiometry) and EKKO Mapper (GPR) in order to create maps of the study sites in Google Earth for later use by archaeologists. Using GPS data, we imported images into Google Earth as overlays and accurately georeferenced them. We added Placemarks where we interpreted subsurface features and waypoints for the features were exported as an XML file for further manipulation in Excel. Two of the sites yielded significant results, as many subsurface structures were detected in spite of little or no surface evidence

Viewed from above: extracting the built environment from the ancient Purépecha site of Angamuco through development of a new methodology

2019 Fall.Includes bibliographical references.This thesis utilizes commonly used GIS tools to develop a methodology capable of extracting the built environment from the complex topology of the ancient Purépecha site of Angamuco located in Michoacán, Mexico. Unlike lowland areas and coastal regions Angamuco sits upon a volcanic malpaís consisting of rolling hills, small valleys, complex ridgelines, and a multitude of microtopographic features creating a complex physical landscape. This topographically complex landscape creates unique challenges in extracting subtle archaeological features and requires a new methodology to separate the built environment. This new methodology utilizing common GIS tools in a flexible workflow consisting of topographic manipulation, value identification, and analysis preparation. The results of the methodology provides a data set of 87,407 possible archaeological features. These features are all greater than 5m² in area and consist of a wide range of circular to rectilinear, linear, and numerous miscellaneous shaped features throughout the site. The capability of this dataset in further analysis is shown through the application of a density analysis and classification based on the Thinness Ratio to conduct OBIA at the individual feature level. Although, the dataset does require manual clean-up the application of the data to answer certain questions about the urban attributes of the site of Angamuco is valid. Further analysis of this output dataset through GIS can provide detailed answers to questions about urban design for the Purépecha prior to and during the early Empire phase

Multimodal Human-Machine Interface For Haptic-Controlled Excavators

The goal of this research is to develop a human-excavator interface for the hapticcontrolled excavator that makes use of the multiple human sensing modalities (visual, auditory haptic), and efficiently integrates these modalities to ensure intuitive, efficient interface that is easy to learn and use, and is responsive to operator commands. Two empirical studies were conducted to investigate conflict in the haptic-controlled excavator interface and identify the level of force feedback for best operator performance

Remote sensing and data fusion of cultural and physical landscapes

This dissertation is written as part of the three-article option offered by the Geography Department at UNC Greensboro. Each article addresses specific research issues within Remote Sensing, Photogrammetry, and three-dimensional modeling related structural and subsurface remote sensing of historic cultural landscapes. The articles submitted in this dissertation are both separate study sites and research questions, but the unifying theme of geographic research methods applies throughout. The first article is titled Terrestrial Lidar and GPR Investigations into the Third Line of Battle at Guilford Courthouse National Military Park, Guilford County, North Carolina is published in the book Digital Methods and Remote Sensing in Archaeology: Archaeology in the Age of Sensing. Forte, Maurizio, Campana, Stefano R.L. (Eds.) 2016. The results of the research demonstrate the successful exportation of GPR data into three-dimensional point clouds. Subsequently, the converted GPR points in conjunction with the TLS were explored to aid in the identification of the colonial subsurface. The second article submitted for consideration is titled “Three-Dimensional Modeling using Terrestrial LiDAR, Unmanned Aerial Vehicles, and Digital Cameras at House in the Horseshoe State Historic Site, Sanford, North Carolina.” There are two different research components to this study, modeling a structure and the landscape. The structure modeling section compares three different remote sensing approaches to the capture and three-dimensional model creation of a historic building. A detailed comparison is made between the photogrammetric models generated from digital camera photography, a terrestrial laser scanner (TLS) and an unmanned aerial vehicle (UAS). The final article, “Geophysical Investigations at the Harper House Bentonville Battlefield, NC State Historic Site” submitted focuses on the Harper House located in at the Bentonville Civil War battlefield. UNCG conducted a geophysical survey using a ground penetrating radar and gradiometer. The findings from the data were used to determine and pinpoint areas of interest for subsequent excavation

Using Spatial Analysis To Determine The MNI Of Mass Graves

Many common methods for establishing the number of individuals represented by a skeletal assemblage within mass graves decontextualize the elements by not considering the position of the element within the burial site. Here I argue that based on the position of skeletal elements within space, they can be inferred to belong to the same individual (or not). The ability to reassociate elements can provide more accurate estimates of the number of individuals present. The position of the elements within the grave is affected by a variety of geotaphonomic forces which must be considered before assaying spatial analysis. Mass graves which represent a primary inhumation site, in which the remains are articulated or were disarticulated through natural taphonomic processes, in which carnivore scavenging is minimal, in which the geological context is favorable for preservation, and in which fluvial transport is low-energy or not present are the best candidates for effective analysis of the spatial distribution of remains. This thesis will discuss current methods for detecting and mapping mass graves, geotaphonomic factors which affect spatial distribution of bones relative to each other, and the application of technologies for spatial analysis to the establishment of the number of individuals represented by an assemblage

Multimodal and multidimensional geodata interaction and visualization

This PhD proposes the development of a Science Data Visualization System, SdVS, that analyzes and presents different kinds of visualizing and interacting techniques with Geo-data, in order to deal with knowledge about Geo-data using GoogleEarth. After that, we apply the archaeological data as a case study, and, as a result, we develop the Archaeological Visualization System, ArVS, using new visualization paradigms and Human-Computer-Interaction techniques based on SdVS. Furthermore, SdVS provides guidelines for developing any other visualization and interacting applications in the future, and how the users can use SdVS system to enhance the understanding and dissemination of knowledge

Métodos de representação virtual e visualização para informação arquitetónica e contextual em sítios arqueológicos

This work seeks to outline some guidelines in order to improve the use of 3D visualization applied to archaeological data of diverse nature and at different scales. One difficulty found in this process is related to the still frequent two-dimensional representation of the three-dimensional archaeological reality. Aware that the existence of data of two-dimensional nature is fundamental in the archaeological process and that they result, on the one hand, from the manual archaeological recording processes and, on the other hand, from the intense analysis and interpretation activity of the archaeological investigation team, we seek to ensure an adequate 3D representation based on 3D acquisition methods mostly available to the archaeology teams. Archaeological visualization in three-dimensional support is an increasingly frequent and necessary practice, but it continues to show some difficulties. These are substantiated in the reduced number of visualization techniques used, the use of visualization tools that are not very customized for the archaeological needs and the privileged use of visual features of the models during the archaeological process phases. Thus, the main objective of this work is to design and evaluate appropriate methods for visualizing archaeological data. To determine which visualization methods are most used during the phases of the archaeological process, an online user-survey was carried out, which allowed consolidating the 3D representation methodologies used, as well as to propose a visualization model that also categorizes the appropriate visualization techniques which increase the visual perception and understanding of the archaeological elements. Three prototypes are defined according to the different 3D data acquisition methodologies presented and visualization methodologies are designed in order to, on the one hand, take into account the scale and diversity of the archaeological elements and, on the other hand, to account for the need to ensure visualization methods which are easily assimilated by archaeologists. Each prototype was evaluated by two archaeologists with different professional background. They were proposed, through a set of previously determined tasks, to assess the interaction with 3D models and with the visualization methods and the satisfaction of the visualization results regarding the archaeological needs. The evaluation of the prototypes allowed to conclude that the presented visualization methods increase the perception of 3D models which represent archaeological elements. In addition, it was also possible to produce new objects that reveal elements of archaeological interest. It is suggested to make these methodologies available on a web-based application and on mobile platforms.Este trabalho procura esboçar algumas diretrizes no sentido de melhorar a utilização da visualização 3D aplicada aos dados arqueológicos de natureza diversa e a escalas distintas. Uma dificuldade encontrada neste processo prende-se com a, ainda frequente, representação bidimensional da realidade arqueológica tridimensional. Ciente de que a existência de dados de natureza bidimensional são fundamentais no processo arqueológico e que resultam, por um lado, dos processos manuais de registo arqueológicos e, por outro, da intensa atividade de análise e interpretação da equipa de investigação arqueológica, procuramos assegurar uma representação 3D adequada, com base em metodologias de aquisição de dados 3D geralmente disponíveis às equipas de arqueologia. A visualização arqueológica em suporte tridimensional é uma prática cada vez mais frequente e necessária, mas que continua a evidenciar algumas dificuldades. Estas substanciam-se no reduzido número de técnicas de visualização usadas, na utilização de ferramentas de visualização pouco adaptadas às necessidades arqueológicas e na utilização preferencial de características visuais dos modelos durante as fases do processo arqueológico. Assim, o objetivo primordial deste trabalho é desenhar e avaliar métodos adequados à visualização de dados arqueológicos. Para determinar que métodos de visualização são mais utilizados durante as fases do processo arqueológico realizou-se um questionário online que permitiu consolidar as metodologias de representação 3D usadas, bem como propor um modelo de visualização que também categoriza as técnicas de visualização adequadas para aumentar a perceção e a compreensão visual dos elementos arqueológicos. Definem-se três protótipos de acordo com as distintas metodologias de aquisição de dados 3D apresentados e são desenhadas metodologias de visualização que, por um lado, têm em conta a escala e a diversidade dos elementos arqueológicos e, por outro, a necessidade de assegurar métodos de visualização facilmente assimilados pelos arqueólogos. Cada protótipo foi avaliado por dois arqueólogos com experiências profissionais distintas. O que lhes foi proposto, através de um conjunto de tarefas previamente estabelecidas, foi aferir da facilidade de interação com os modelos 3D e com os métodos de visualização e adequação dos resultados de visualização às necessidades dos arqueólogos. A avaliação dos protótipos permitiu concluir que os métodos de visualização apresentados aumentam a perceção dos modelos 3D que representam elementos arqueológicos. Para além disso foi possível produzir também novos objetos que revelam elementos com interesse arqueológico. É sugerida a disponibilização destas metodologias em ambiente web e plataformas móveis.Programa Doutoral em Informátic

Functional Autonomy Techniques for Manipulation in Uncertain Environments

As robotic platforms are put to work in an ever more diverse array of environments, their ability to deploy visuomotor capabilities without supervision is complicated by the potential for unforeseen operating conditions. This is a particular challenge within the domain of manipulation, where significant geometric, semantic, and kinetic understanding across the space of possible manipulands is necessary to allow effective interaction. To facilitate adoption of robotic platforms in such environments, this work investigates the application of functional, or behavior level, autonomy to the task of manipulation in uncertain environments. Three functional autonomy techniques are presented to address subproblems within the domain. The task of reactive selection between a set of actions that incur a probabilistic cost to advance the same goal metric in the presence of an operator action preference is formulated as the Obedient Multi-Armed Bandit (OMAB) problem, under the purview of Reinforcement Learning. A policy for the problem is presented and evaluated against a novel performance metric, disappointment (analogous to prototypical MAB's regret), in comparison to adaptations of existing MAB policies. This is posed for both stationary and non-stationary cost distributions, within the context of two example planetary exploration applications of multi-modal mobility, and surface excavation. Second, a computational model that derives semantic meaning from the outcome of manipulation tasks is developed, which leverages physics simulation and clustering to learn symbolic failure modes. A deep network extracts visual signatures for each mode that may then guide failure recovery. The model is demonstrated through application to the archetypal manipulation task of placing objects into a container, as well as stacking of cuboids, and evaluated against both synthetic verification sets and real depth images. Third, an approach is presented for visual estimation of the minimum magnitude grasping wrench necessary to extract massive objects from an unstructured pile, subject to a given end effector's grasping limits, that is formulated for each object as a "wrench space stiction manifold". Properties are estimated from segmented RGBD point clouds, and a geometric adjacency graph used to infer incident wrenches upon each object, allowing candidate extraction object/force-vector pairs to be selected from the pile that are likely to be within the system's capability.</p

Web-based visualization for 3D data in archaeology : The ADS 3D viewer

The solid geometry of archaeological deposits is fundamental to the interpretation of their chronological sequence. However, such stratigraphic sequences are generally viewed as static two-dimensional diagrammatic representations which are difficult to manipulate or to relate to real layers. The ADS 3D Viewer is a web-based resource for the management and analysis of archaeological data. The viewer was developed to take advantage of recent developments in web technology, namely the adoption of WebGL (Web Graphics Library) by current web browsers. The ADS 3D Viewer combines the potential of the 3D Heritage Online Presenter (3DHOP), a software package for the web-based visualization of 3D geometries, with the infrastructure of the Archaeology Data Service (ADS) repository, in the attempt to create a platform for the visualization and analysis of 3D data archived by the ADS. Two versions of the viewer have been developed to answer the needs of different users. The first version, the Object Level 3D Viewer, was implemented to extend the browsing capability of ADS project archives by enabling the visualization of single 3D models. The second version, the Stratigraphy 3D Viewer, is an extension which allows the exploration of a specific kind of aggregated data: the multiple layers of an archaeological stratigraphic sequence. This allows those unable to participate directly in the fieldwork to access, analyse and re-interpret the archaeological context remotely. This has the potential to transform the discipline, allowing inter-disciplinary, cross-border and ‘at-distance’ collaborative workflows, and enabling easier access to and analysis of archaeological data

Camera Marker Networks for Pose Estimation and Scene Understanding in Construction Automation and Robotics.

The construction industry faces challenges that include high workplace injuries and fatalities, stagnant productivity, and skill shortage. Automation and Robotics in Construction (ARC) has been proposed in the literature as a potential solution that makes machinery easier to collaborate with, facilitates better decision-making, or enables autonomous behavior. However, there are two primary technical challenges in ARC: 1) unstructured and featureless environments; and 2) differences between the as-designed and the as-built. It is therefore impossible to directly replicate conventional automation methods adopted in industries such as manufacturing on construction sites. In particular, two fundamental problems, pose estimation and scene understanding, must be addressed to realize the full potential of ARC. This dissertation proposes a pose estimation and scene understanding framework that addresses the identified research gaps by exploiting cameras, markers, and planar structures to mitigate the identified technical challenges. A fast plane extraction algorithm is developed for efficient modeling and understanding of built environments. A marker registration algorithm is designed for robust, accurate, cost-efficient, and rapidly reconfigurable pose estimation in unstructured and featureless environments. Camera marker networks are then established for unified and systematic design, estimation, and uncertainty analysis in larger scale applications. The proposed algorithms' efficiency has been validated through comprehensive experiments. Specifically, the speed, accuracy and robustness of the fast plane extraction and the marker registration have been demonstrated to be superior to existing state-of-the-art algorithms. These algorithms have also been implemented in two groups of ARC applications to demonstrate the proposed framework's effectiveness, wherein the applications themselves have significant social and economic value. The first group is related to in-situ robotic machinery, including an autonomous manipulator for assembling digital architecture designs on construction sites to help improve productivity and quality; and an intelligent guidance and monitoring system for articulated machinery such as excavators to help improve safety. The second group emphasizes human-machine interaction to make ARC more effective, including a mobile Building Information Modeling and way-finding platform with discrete location recognition to increase indoor facility management efficiency; and a 3D scanning and modeling solution for rapid and cost-efficient dimension checking and concise as-built modeling.PHDCivil EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/113481/1/cforrest_1.pd