Active Classification: Theory and Application to Underwater Inspection

We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods.Comment: 16 page

Comparison of different objective functions for parameterization of simple respiration models

The eddy covariance measurements of carbon dioxide fluxes collected around the world offer a rich source for detailed data analysis. Simple, aggregated models are attractive tools for gap filling, budget calculation, and upscaling in space and time. Key in the application of these models is their parameterization and a robust estimate of the uncertainty and reliability of their predictions. In this study we compared the use of ordinary least squares (OLS) and weighted absolute deviations (WAD, which is the objective function yielding maximum likelihood parameter estimates with a double exponential error distribution) as objective functions within the annual parameterization of two respiration models: the Q10 model and the Lloyd and Taylor model. We introduce a new parameterization method based on two nonparametric tests in which model deviation (Wilcoxon test) and residual trend analyses (Spearman test) are combined. A data set of 9 years of flux measurements was used for this study. The analysis showed that the choice of the objective function is crucial, resulting in differences in the estimated annual respiration budget of up to 40%. The objective function should be tested thoroughly to determine whether it is appropriate for the application for which the model will be used. If simple models are used to estimate a respiration budget, a trend test is essential to achieve unbiased estimates over the year. The analyses also showed that the parameters of the Lloyd and Taylor model are highly correlated and difficult to determine precisely, thereby limiting the physiological interpretability of the parameter

Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics

Flight Test of the Lateral Stability of a 0.133-Scale Model of the Convair XFY-1 Airplane with Windmilling Propellers at Mach Numbers from 0.70 to 1.12 (TED No. NACA DE 369)

A flight test of a rocket-propelled model of the Convair XFY-1 airplane was conducted to determine the lateral stability and control characteristics, The 0.133-scale model had windmilling propellers for this test, which covered a Mach number range of O.70 to 1.12. The center of gravity was located at 13.9 percent of the mean aerodynamic chord. The methods of analysis included both a solution by vector diagrams and simple one- and two-degree-of-freedom methods. The model was both statically and dynamically stable throughout the speed range of the testa The roll damping was good, and the slope of the side-force curve varied little with speed. The rudder was effective throughout the test speed range, although it was reduced to about 43 percent of its subsonic value at supersonic speeds

Characteristics of Magnetoplasmas Semiannual Status Report No. 12, May 1 - Oct. 31, 1965

Magnetoplasma characteristics - anomalous diffusion across magnetic field, heat conduction in plasma, cesium plasma generator, and electron velocity distribution function in magnetoplasma