Variational assimilation of Lagrangian data in oceanography

We consider the assimilation of Lagrangian data into a primitive equations circulation model of the ocean at basin scale. The Lagrangian data are positions of floats drifting at fixed depth. We aim at reconstructing the four-dimensional space-time circulation of the ocean. This problem is solved using the four-dimensional variational technique and the adjoint method. In this problem the control vector is chosen as being the initial state of the dynamical system. The observed variables, namely the positions of the floats, are expressed as a function of the control vector via a nonlinear observation operator. This method has been implemented and has the ability to reconstruct the main patterns of the oceanic circulation. Moreover it is very robust with respect to increase of time-sampling period of observations. We have run many twin experiments in order to analyze the sensitivity of our method to the number of floats, the time-sampling period and the vertical drift level. We compare also the performances of the Lagrangian method to that of the classical Eulerian one. Finally we study the impact of errors on observations.Comment: 31 page

Towards a Soil Information System with quantified accuracy : a prototype for mapping continuous soil properties

This report describes the potential and functionality of software for spatial analysis, prediction and stochastic simulation of continuous soil properties using data from the Dutch Soil Information System (BIS). A geostatistical framework and R codes were developed. The geostatistical model of a soil property has a deterministic component representing the mean value within a soil category, and a stochastic component of standardized residuals. The standardized residuals are interpolated or simulated based on the simple kriging system. The software was tested in four case studies: exchangeable soil pH, clay content, organic matter content and Mean Spring Water table depth (MSW). It is concluded that the geostatistical framework and R codes developed in this study enable to predict values of continuous soil properties spatially, and to quantify the inaccuracy of these predictions. The inaccuracy of a spatial prediction at a certain location is quantified by the kriging variance, which can be interpreted as an indication of the uncertainty about the true value

A Novel Framework for Highlight Reflectance Transformation Imaging

We propose a novel pipeline and related software tools for processing the multi-light image collections (MLICs) acquired in different application contexts to obtain shape and appearance information of captured surfaces, as well as to derive compact relightable representations of them. Our pipeline extends the popular Highlight Reflectance Transformation Imaging (H-RTI) framework, which is widely used in the Cultural Heritage domain. We support, in particular, perspective camera modeling, per-pixel interpolated light direction estimation, as well as light normalization correcting vignetting and uneven non-directional illumination. Furthermore, we propose two novel easy-to-use software tools to simplify all processing steps. The tools, in addition to support easy processing and encoding of pixel data, implement a variety of visualizations, as well as multiple reflectance-model-fitting options. Experimental tests on synthetic and real-world MLICs demonstrate the usefulness of the novel algorithmic framework and the potential benefits of the proposed tools for end-user applications.Terms: "European Union (EU)" & "Horizon 2020" / Action: H2020-EU.3.6.3. - Reflective societies - cultural heritage and European identity / Acronym: Scan4Reco / Grant number: 665091DSURF project (PRIN 2015) funded by the Italian Ministry of University and ResearchSardinian Regional Authorities under projects VIGEC and Vis&VideoLa

Using AI and Robotics for EV battery cable detection.: Development and implementation of end-to-end model-free 3D instance segmentation for industrial purposes

Master's thesis in Information- and communication technology (IKT590)This thesis describes a novel method for capturing point clouds and segmenting instances of cabling found on electric vehicle battery packs. The use of cutting-edge perception algorithm architectures, such as graph-based and voxel-based convolution, in industrial autonomous lithium-ion battery pack disassembly is being investigated. The thesis focuses on the challenge of getting a desirable representation of any battery pack using an ABB robot in conjunction with a high-end structured light camera, with "end-to-end" and "model-free" as design constraints. The thesis employs self-captured datasets comprised of several battery packs that have been captured and labeled. Following that, the datasets are used to create a perception system. This thesis recommends using HDR functionality in an industrial application to capture the full dynamic range of the battery packs. To adequately depict 3D features, a three-point-of-view capture sequence is deemed necessary. A general capture process for an entire battery pack is also presented, but a next-best-scan algorithm is likely required to ensure a "close to complete" representation. Graph-based deep-learning algorithms have been shown to be capable of being scaled up to50,000inputs while still exhibiting strong performance in terms of accuracy and processing time. The results show that an instance segmenting system can be implemented in less than two seconds. Using off-the-shelf hardware, demonstrate that a 3D perception system is industrially viable and competitive with a 2D perception system

Multi-Scale 3D Scene Flow from Binocular Stereo Sequences

Scene flow methods estimate the three-dimensional motion field for points in the world, using multi-camera video data. Such methods combine multi-view reconstruction with motion estimation. This paper describes an alternative formulation for dense scene flow estimation that provides reliable results using only two cameras by fusing stereo and optical flow estimation into a single coherent framework. Internally, the proposed algorithm generates probability distributions for optical flow and disparity. Taking into account the uncertainty in the intermediate stages allows for more reliable estimation of the 3D scene flow than previous methods allow. To handle the aperture problems inherent in the estimation of optical flow and disparity, a multi-scale method along with a novel region-based technique is used within a regularized solution. This combined approach both preserves discontinuities and prevents over-regularization – two problems commonly associated with the basic multi-scale approaches. Experiments with synthetic and real test data demonstrate the strength of the proposed approach.National Science Foundation (CNS-0202067, IIS-0208876); Office of Naval Research (N00014-03-1-0108

Weak lensing of the Lyman-alpha forest

The angular positions of quasars are deflected by the gravitational lensing effect of foreground matter. The Lyman-alpha forest seen in the spectra of these quasars is therefore also lensed. We propose that the signature of weak gravitational lensing of the forest could be measured using similar techniques that have been applied to the lensed Cosmic Microwave Background, and which have also been proposed for application to spectral data from 21cm radio telescopes. As with 21cm data, the forest has the advantage of spectral information, potentially yielding many lensed "slices" at different redshifts. We perform an illustrative idealized test, generating a high resolution angular grid of quasars (of order arcminute separation), and lensing the Lyman-alphaforest spectra at redshifts z=2-3 using a foreground density field. We find that standard quadratic estimators can be used to reconstruct images of the foreground mass distribution at z~1. There currently exists a wealth of Lya forest data from quasar and galaxy spectral surveys, with smaller sightline separations expected in the future. Lyman-alpha forest lensing is sensitive to the foreground mass distribution at redshifts intermediate between CMB lensing and galaxy shear, and avoids the difficulties of shape measurement associated with the latter. With further refinement and application of mass reconstruction techniques, weak gravitational lensing of the high redshift Lya forest may become a useful new cosmological probe.Comment: 9 pages, 7 figures, submitted to MNRA

Principal Component Analysis of the Time- and Position-Dependent Point Spread Function of the Advanced Camera for Surveys

We describe the time- and position-dependent point spread function (PSF) variation of the Wide Field Channel (WFC) of the Advanced Camera for Surveys (ACS) with the principal component analysis (PCA) technique. The time-dependent change is caused by the temporal variation of the $HST$ focus whereas the position-dependent PSF variation in ACS/WFC at a given focus is mainly the result of changes in aberrations and charge diffusion across the detector, which appear as position-dependent changes in elongation of the astigmatic core and blurring of the PSF, respectively. Using >400 archival images of star cluster fields, we construct a ACS PSF library covering diverse environments of the $HST$ observations (e.g., focus values). We find that interpolation of a small number ($\sim20$) of principal components or ``eigen-PSFs'' per exposure can robustly reproduce the observed variation of the ellipticity and size of the PSF. Our primary interest in this investigation is the application of this PSF library to precision weak-lensing analyses, where accurate knowledge of the instrument's PSF is crucial. However, the high-fidelity of the model judged from the nice agreement with observed PSFs suggests that the model is potentially also useful in other applications such as crowded field stellar photometry, galaxy profile fitting, AGN studies, etc., which similarly demand a fair knowledge of the PSFs at objects' locations. Our PSF models, applicable to any WFC image rectified with the Lanczos3 kernel, are publicly available.Comment: Accepted to PASP. To appear in December issue. Figures are degraded to meet the size limit. High-resolution version can be downloaded at http://acs.pha.jhu.edu/~mkjee/acs_psf/acspsf.pd