A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor

For a number of years, scientists have been trying to develop aids that can make visually impaired people more independent and aware of their surroundings. Computer-based automatic navigation tools are one example of this, motivated by the increasing miniaturization of electronics and the improvement in processing power and sensing capabilities. This paper presents a complete navigation system based on low cost and physically unobtrusive sensors such as a camera and an infrared sensor. The system is based around corners and depth values from Kinect’s infrared sensor. Obstacles are found in images from a camera using corner detection, while input from the depth sensor provides the corresponding distance. The combination is both efficient and robust. The system not only identifies hurdles but also suggests a safe path (if available) to the left or right side and tells the user to stop, move left, or move right. The system has been tested in real time by both blindfolded and blind people at different indoor and outdoor locations, demonstrating that it operates adequately.</jats:p

Generalized second-order partial derivatives of 1/r

The generalized second-order partial derivatives of 1/r, where r is the radial distance in 3D, are obtained using a result of the potential theory of classical analysis. Some non-spherical regularization alternatives to the standard spherical-regularization expression for the derivatives are derived. The utility of a spheroidal-regularization expression is illustrated on an example from classical electrodynamics.Comment: 12 pages; as accepted for publication by European Journal of Physic

An axiomatic approach to the non-linear theory of generalized functions and consistency of Laplace transforms

We offer an axiomatic definition of a differential algebra of generalized functions over an algebraically closed non-Archimedean field. This algebra is of Colombeau type in the sense that it contains a copy of the space of Schwartz distributions. We study the uniqueness of the objects we define and the consistency of our axioms. Next, we identify an inconsistency in the conventional Laplace transform theory. As an application we offer a free of contradictions alternative in the framework of our algebra of generalized functions. The article is aimed at mathematicians, physicists and engineers who are interested in the non-linear theory of generalized functions, but who are not necessarily familiar with the original Colombeau theory. We assume, however, some basic familiarity with the Schwartz theory of distributions.Comment: 23 page

Kinetic description of particle interaction with a gravitational wave

The interaction of charged particles, moving in a uniform magnetic field, with a plane-polarized gravitational wave is considered using the Fokker-Planck- Kolmogorov (FPK) approach. By using a stochasticity criterion, we determine the exact locations in phase space, where resonance overlapping occurs. We investigate the diffusion of orbits around each primary resonance of order (m) by deriving general analytical expressions for an effective diffusion coeficient. A solution to the corresponding diffusion equation (Fokker-Planck equation) for the static case is found. Numerical integration of the full equations of motion and subsequent calculation of the diffusion coefficient verifies the analytical results.Comment: LaTeX file, 15 page

Trkalian fields: ray transforms and mini-twistors

We study X-ray and Divergent beam transforms of Trkalian fields and their relation with Radon transform. We make use of four basic mathematical methods of tomography due to Grangeat, Smith, Tuy and Gelfand-Goncharov for an integral geometric view on them. We also make use of direct approaches which provide a faster but restricted view of the geometry of these transforms. These reduce to well known geometric integral transforms on a sphere of the Radon or the spherical Curl transform in Moses eigenbasis, which are members of an analytic family of integral operators. We also discuss their inversion. The X-ray (also Divergent beam) transform of a Trkalian field is Trkalian. Also the Trkalian subclass of X-ray transforms yields Trkalian fields in the physical space. The Riesz potential of a Trkalian field is proportional to the field. Hence, the spherical mean of the X-ray (also Divergent beam) transform of a Trkalian field over all lines passing through a point yields the field at this point. The pivotal point is the simplification of an intricate quantity: Hilbert transform of the derivative of Radon transform for a Trkalian field in the Moses basis. We also define the X-ray transform of the Riesz potential (of order 2) and Biot-Savart integrals. Then, we discuss a mini-twistor respresentation, presenting a mini-twistor solution for the Trkalian fields equation. This is based on a time-harmonic reduction of wave equation to Helmholtz equation. A Trkalian field is given in terms of a null vector in C3 with an arbitrary function and an exponential factor resulting from this reduction.Comment: 37 pages, http://dx.doi.org/10.1063/1.482610

Sensor fusion of camera, GPS and IMU using fuzzy adaptive multiple motion models

A tracking system that will be used for augmented reality applications has two main requirements: accuracy and frame rate. The first requirement is related to the performance of the pose estimation algorithm and how accurately the tracking system can find the position and orientation of the user in the environment. Accuracy problems of current tracking devices, considering that they are low-cost devices, cause static errors during this motion estimation process. The second requirement is related to dynamic errors (the end-to-end system delay, occurring because of the delay in estimating the motion of the user and displaying images based on this estimate). This paper investigates combining the vision-based estimates with measurements from other sensors, GPS and IMU, in order to improve the tracking accuracy in outdoor environments. The idea of using Fuzzy Adaptive Multiple Models was investigated using a novel fuzzy rule-based approach to decide on the model that results in improved accuracy and faster convergence for the fusion filter. Results show that the developed tracking system is more accurate than a conventional GPS–IMU fusion approach due to additional estimates from a camera and fuzzy motion models. The paper also presents an application in cultural heritage context running at modest frame rates due to the design of the fusion algorithm

Evaluation Method, Dataset Size or Dataset Content: How to Evaluate Algorithms for Image Matching?

Most vision papers have to include some evaluation work in order to demonstrate that the algorithm proposed is an improvement on existing ones. Generally, these evaluation results are presented in tabular or graphical forms. Neither of these is ideal because there is no indication as to whether any performance differences are statistically significant. Moreover, the size and nature of the dataset used for evaluation will obviously have a bearing on the results, and neither of these factors are usually discussed. This paper evaluates the effectiveness of commonly used performance characterization metrics for image feature detection and description for matching problems and explores the use of statistical tests such as McNemar’s test and ANOVA as better alternatives

Should patients with abnormal liver function tests in primary care be tested for chronic viral hepatitis: cost minimisation analysis based on a comprehensively tested cohort

Background Liver function tests (LFTs) are ordered in large numbers in primary care, and the Birmingham and Lambeth Liver Evaluation Testing Strategies (BALLETS) study was set up to assess their usefulness in patients with no pre-existing or self-evident liver disease. All patients were tested for chronic viral hepatitis thereby providing an opportunity to compare various strategies for detection of this serious treatable disease. Methods This study uses data from the BALLETS cohort to compare various testing strategies for viral hepatitis in patients who had received an abnormal LFT result. The aim was to inform a strategy for identification of patients with chronic viral hepatitis. We used a cost-minimisation analysis to define a base case and then calculated the incremental cost per case detected to inform a strategy that could guide testing for chronic viral hepatitis. Results Of the 1,236 study patients with an abnormal LFT, 13 had chronic viral hepatitis (nine hepatitis B and four hepatitis C). The strategy advocated by the current guidelines (repeating the LFT with a view to testing for specific disease if it remained abnormal) was less efficient (more expensive per case detected) than a simple policy of testing all patients for viral hepatitis without repeating LFTs. A more selective strategy of viral testing all patients for viral hepatitis if they were born in countries where viral hepatitis was prevalent provided high efficiency with little loss of sensitivity. A notably high alanine aminotransferase (ALT) level (greater than twice the upper limit of normal) on the initial ALT test had high predictive value, but was insensitive, missing half the cases of viral infection. Conclusions Based on this analysis and on widely accepted clinical principles, a "fast and frugal" heuristic was produced to guide general practitioners with respect to diagnosing cases of viral hepatitis in asymptomatic patients with abnormal LFTs. It recommends testing all patients where a clear clinical indication of infection is present (e.g. evidence of intravenous drug use), followed by testing all patients who originated from countries where viral hepatitis is prevalent, and finally testing those who have a notably raised ALT level (more than twice the upper limit of normal). Patients not picked up by this efficient algorithm had a risk of chronic viral hepatitis that is lower than the general population

Home Bound Working Women and Organizational Efficiency of Developing Economy

This research aims to understand the preferences of educated unemployed womenof Pakistan and India on the imposition of the law of “Flex time/rules for homebound educated women”. For this purpose, 158 respondents were asked to f illa survey out of which 79 respondents were educated employed women and 79respondents were unemployed women (79). Chi-square was applied to the data.Findings suggest that 94% of the women from both the groups are of the viewthat an introduction of women quota would result in an increase in women par-ticipation in the workforce. To understand management’s perspective, 6 inter-views with HR heads of selective industries were conducted. Narrative Analysiswas applied which revealed only 10 to 20% women participated in the totalworkforce. The study also highlights reasons for low women participation. Theseinclude cultural norms, maternal issues, maternity problems, after marriage re-strictions and childbirth. The study concludes that introducing an introductionof women quota in both public and private sectors would help increase womenparticipation and contribution to the country’s economy

First order phase transition from ferromagnetism to antiferromagnetism in Ce(Fe0.96_{0.96}Al0.04_{0.04})2_2

Taking the pseudobinary C15 Laves phase compound Ce(Fe$_{0.96}$Al$_{0.04}$)$_2$ as a paradigm for studying a ferromagnetic to antiferromagnetic phase transition, we present interesting thermomagnetic history effects in magnetotransport as well as magnetisation measurements across this phase transition. A comparison is made with history effects observed across the ferromagnetic to antiferromagnetic transition in R$_{0.5}$Sr$_{0.5}$MnO$_3$ crystals.Comment: 11 pages of text and 4 figures; submitted to Physical Review Letter