An Efficient Approach To Object Recognition For Mobile Robots.

In robotics, the object recognition approaches developed so far have proved very valuable, but their high memory and processing requirements make them suitable only for robots with high processing capability or for offline processing. When it comes to small size robots, these approaches are not effective and light- weight vision processing is adopted which causes a big drop in recognition performance. In this research, a computationally expensive, but efficient appearance-based object recognition approach is considered and tested on a small robotic platform which has limited memory and processing resources. Rather than processing the high resolution images, all the times, to perform recognition, a novel idea of switching between high and low resolutions, based on the “distance to object” is adopted. It is also shown that much of the computation time can be saved by identifying the irrelevant information in the images and avoid processing them with computationally expensive approaches. This helps to bridge the gap between the computationally expensive approaches and embedded platform with limited processing resources

Adaptive Airborne Separation to Enable UAM Autonomy in Mixed Airspace

The excitement and promise generated by Urban Air Mobility (UAM) concepts have inspired both new entrants and large aerospace companies throughout the world to invest hundreds of millions in research and development of air vehicles, both piloted and unpiloted, to fulfill these dreams. The management and separation of all these new aircraft have received much less attention, however, and even though NASAs lead is advancing some promising concepts for Unmanned Aircraft Systems (UAS) Traffic Management (UTM), most operations today are limited to line of sight with the vehicle, airspace reservation and geofencing of individual flights. Various schemes have been proposed to control this new traffic, some modeled after conventional air traffic control and some proposing fully automatic management, either from a ground-based entity or carried out on board among the vehicles themselves. Previous work has examined vehicle-based traffic management in the very low altitude airspace within a metroplex called UTM airspace in which piloted traffic is rare. A management scheme was proposed in that work that takes advantage of the homogeneous nature of the traffic operating in UTM airspace. This paper expands that concept to include a traffic management plan usable at all altitudes desired for electric Vertical Takeoff and Landing urban and short-distance, inter-city transportation. The interactions with piloted aircraft operating under both visual and instrument flight rules are analyzed, and the role of Air Traffic Control services in the postulated mixed traffic environment is covered. Separation values that adapt to each type of traffic encounter are proposed, and the relationship between required airborne surveillance range and closure speed is given. Finally, realistic scenarios are presented illustrating how this concept can reliably handle the density and traffic mix that fully implemented and successful UAM operations would entail

Constellations – a space in time that’s filled with moving

Constellations in the sky have been a source of inspiration, in both science and literature, for aeons. Working within the constraints of the ‘official’ 88 constellations, as devised by the International Astronomical Union, this study involved researching the myths and histories of constellations, and then creating a collection of poems based upon those. Thematic connections between the eight modern constellation “families” or groups of constellations were explored and it is in these groupings that the poems work, to tie together, through experimentations with language, a somewhat cohesive fabric of poetry. Each constellation consists of three poems. The first is a dense prose poem. The poem is then reconfigured, containing elements of the old prose poem, but offering new associations and meanings as punctuation and words are removed. The third and final poem reflects the actual constellation shape, as observed in star maps. It is a movement of poetic archaeology, with new poems emerging through excavation of the first two pages. The poems challenge notions of language, such as closure, dealing with repetitions, renewal and discontinuous narrative threads. There is an element of play with the work, and the final page encourages reading beyond the left to right formation of conventional reading structures, instead making connections to be traversed in an improvised reading process. The poems are presented as four pages for each constellation. Three pages are the poems, and the fourth page, on the reverse of the final constellation shape, is the actual constellation map. The pages are clipped and folded into a black storage box. This design is to encapsulate the feeling of discovering a box of maps, with the folding and unfolding process aimed at being part of the play involved in reading and discovering the poems. Accompanying the box is a Powerpoint presentation on a USB stick. This is a ‘Twitter’ type feed, where a one sentence epigraph, derived from the beginning of each constellation, is inscribed in a continuous feed, in an attempt to illustrate the futility of trying to comprehend and keep up with an endlessly shifting landscape of words online, and in particular, in social media. The 88 phrases revolve aimlessly across the screen. It becomes a blank space, littered with odd words and phrases, recognizable but fleeting The accompanying exegesis discusses language, mapping and orienteering. It explores theoretical concerns in poetry and language, and how, by looking at constellations and the way we interpret them, that they can be seen as metaphors for the way the constellation poems have been created

Communicative Constructions and the Refiguration of Spaces

The Open Access version of this book, available at www.taylorfrancis.com , has been made available under a Creative Commons Attribution-Non Commercial-No Derivatives 4.0 license Through a variety of empirical studies, this volume offers fresh insights into the manner in which different forms of communicative action transform urban space. With attention to the methodological questions that arise from the attempt to study such changes empirically, it offers new theoretical foundations for understanding the social construction and reconstruction of spaces through communicative action. Seeing communicative action as the basic element in the social construction of reality and conceptualizing communication not only in terms of the use of language and texts, but as involving any kind of objectification, such as technologies, bodies and non-verbal signs, it considers the roles of both direct and mediatized (or digitized) communication. An examination of the conceptualization of the communicative (re-)construction of spaces and the means by which this change might be empirically investigated, this book demonstrates the fruitfulness of the notion of refiguration as a means by which to understand the transformation of contemporary societies. As such, it will appeal to sociologists, social theorists, and geographers with interests in social construction and urban space

Contemporary Art and Transitional Justice in Northern Ireland: The Consolation of Form

Abstract Contemporary artworks in Northern Ireland are explored here as critical constellations, in Walter Benjamin’s sense, that engage the cultural processes of transition through their problematisation of it. It is argued that the artworks become sites in which the assumptions of transition are opened up for critical reflection, requesting attention to the foreclosing of the meanings of memory, of past-and-future, of community. A mode of critical questioning of the present renders the present problematic not in terms of exclusions nor with reference to a past that cannot or will not be erased, but in terms of the present’s inability to be conceived through a linear conception of time. That is, the past and its relation to both the present and to the future are set in oscillation as artworks explore the complex temporalities of a present self-consciously attempting to narrate itself away from the past. The artworks, ‘without the bigotry of conviction’ as Seamus Deane put it, suggest that the task of dealing with the past is flawed wherever the past is conceived as a history that can be rendered present to be judged by subjects who are thereby placed beyond it. That is the illusion of a present ‘no-time’ that dovetails with the desires of commercial enterprise and neo-liberal conceptions of freedom. If this suggests an unceasing restlessness, the consolation is that this questioning does take a form, not as judgement or political decision but as artworks which by definition, remain open to reinterpretation and new understandings. These issues are discussed with reference to the work of four artists in Northern Ireland: the paintings of Rita Duffy, the photography and installation work of Anthony Haughey, and the sculptural works of Philip Napier and Mike Hogg

Vision Based Object Recognition and Localisation by a Wireless Connected Distributed Robotic Systems

Object recognition and localisation are important processes in computer vision and robotics. Advances in computer vision have resulted in many object recognition techniques, but most of them are computationally very intensive and require robots with powerful processing systems. For small robots, these techniques are not applicable because of the constraints of execution time. In this study, an optimised implementation of SURF based recognition technique is presented. Suitable image pre-processing techniques were developed which reduced the recognition time on small robots with limited processing resources. The recognition time was reduced from 39 seconds to 780 milliseconds. This recognition technique was adopted by a team of small robots which were given prior training to search for objects of interest in the environment. For the localisation of the robots and objects a new template, designed for passive markers based tracking, was introduced. These markers were placed on the top of each robot and they were tracked by the two ceiling mounted cameras. The information from both sources, that is ceiling mounted cameras and team of robots, was used collectively to localise the objects in the environment. The objects were localised with an error ranging from 2.8cm to 5.2cm from their actual positions in the test arena which has the dimensions of 150x163cm

Higher Altitudes and Higher Standards: Advocating the FCC Require Environmental Assessments for Mega- Constellations

This article will explore why the FCC’s current regime on categorical exclusions is ill-prepared for the developing mega-constellation industry, why the regime should be revised to require that companies launching mega-constellations file an Environmental Assessment (EA) as defined in the National Environmental Policy Act, and how such a change might fiscally impact these companies. Part II of this article will explore the National Environmental Policy Act, discussing the purpose of the Act and the goals Congress sought to accomplish. Part III will consider the FCC’s policy on categorical exclusions and EAs, with a comparison of how some other federal agencies navigate their categorical exclusions and EA policies. Part IV will discuss why, in certain circumstances, satellites should no longer be categorically excluded from environmental assessment and why the FCC should instead require the applicant company to submit an EA in those circumstances. Finally, Part V will examine the economic and fiscal impact such a change may have on companies already expending vast amounts of money on mega-constellation projects, as well as the impact on those companies with portions of their mega-constellations already in orbit

Communicative Constructions and the Refiguration of Spaces

The Open Access version of this book, available at www.taylorfrancis.com , has been made available under a Creative Commons Attribution-Non Commercial-No Derivatives 4.0 license Through a variety of empirical studies, this volume offers fresh insights into the manner in which different forms of communicative action transform urban space. With attention to the methodological questions that arise from the attempt to study such changes empirically, it offers new theoretical foundations for understanding the social construction and reconstruction of spaces through communicative action. Seeing communicative action as the basic element in the social construction of reality and conceptualizing communication not only in terms of the use of language and texts, but as involving any kind of objectification, such as technologies, bodies and non-verbal signs, it considers the roles of both direct and mediatized (or digitized) communication. An examination of the conceptualization of the communicative (re-)construction of spaces and the means by which this change might be empirically investigated, this book demonstrates the fruitfulness of the notion of refiguration as a means by which to understand the transformation of contemporary societies. As such, it will appeal to sociologists, social theorists, and geographers with interests in social construction and urban space