Estimating the prediction performance of spatial models via spatial k-fold cross validation

In machine learning, one often assumes the data are independent when evaluating model performance. However, this rarely holds in practice. Geographic information datasets are an example where the data points have stronger dependencies among each other the closer they are geographically. This phenomenon known as spatial autocorrelation (SAC) causes the standard cross validation (CV) methods to produce optimistically biased prediction performance estimates for spatial models, which can result in increased costs and accidents in practical applications. To overcome this problem, we propose a modified version of the CV method called spatial k-fold cross validation (SKCV), which provides a useful estimate for model prediction performance without optimistic bias due to SAC. We test SKCV with three real-world cases involving open natural data showing that the estimates produced by the ordinary CV are up to 40% more optimistic than those of SKCV. Both regression and classification cases are considered in our experiments. In addition, we will show how the SKCV method can be applied as a criterion for selecting data sampling density for new research area

Three-Dimensional cryoEM Reconstruction of Native LDL Particles to 16 angstrom Resolution at Physiological Body Temperature

Background Low-density lipoprotein (LDL) particles, the major carriers of cholesterol in the human circulation, have a key role in cholesterol physiology and in the development of atherosclerosis. The most prominent structural components in LDL are the core-forming cholesteryl esters (CE) and the particle-encircling single copy of a huge, non-exchangeable protein, the apolipoprotein B-100 (apoB-100). The shape of native LDL particles and the conformation of native apoB-100 on the particles remain incompletely characterized at the physiological human body temperature (37°C). Methodology/Principal Findings To study native LDL particles, we applied cryo-electron microscopy to calculate 3D reconstructions of LDL particles in their hydrated state. Images of the particles vitrified at 6°C and 37°C resulted in reconstructions at ~16 Å resolution at both temperatures. 3D variance map analysis revealed rigid and flexible domains of lipids and apoB-100 at both temperatures. The reconstructions showed less variability at 6°C than at 37°C, which reflected increased order of the core CE molecules, rather than decreased mobility of the apoB-100. Compact molecular packing of the core and order in a lipid-binding domain of apoB-100 were observed at 6°C, but not at 37°C. At 37°C we were able to highlight features in the LDL particles that are not clearly separable in 3D maps at 6°C. Segmentation of apoB-100 density, fitting of lipovitellin X-ray structure, and antibody mapping, jointly revealed the approximate locations of the individual domains of apoB-100 on the surface of native LDL particles. Conclusions/Significance Our study provides molecular background for further understanding of the link between structure and function of native LDL particles at physiological body temperature.Peer reviewe

Unmanned Aerial Vehicles (UAVs): Collision Avoidance Systems and Approaches

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). A lot of work is being done to make the CAS as safe and reliable as possible, necessitating a comparative study of the recent work in this important area. The paper provides a comprehensive review of collision avoidance strategies used for unmanned vehicles, with the main emphasis on unmanned aerial vehicles (UAV). It is an in-depth survey of different collision avoidance techniques that are categorically explained along with a comparative analysis of the considered approaches w.r.t. different scenarios and technical aspects. This also includes a discussion on the use of different types of sensors for collision avoidance in the context of UAVs

Energy-Efficient Formation Morphing for Collision Avoidance in a Swarm of Drones

Two important aspects in dealing with autonomous navigation of a swarm of drones are collision avoidance mechanism and formation control strategy; a possible competition between these two modes of operation may have negative implications for success and efficiency of the mission. This issue is exacerbated in the case of distributed formation control in leader-follower based swarms of drones since nodes concurrently decide and act through individual observation of neighbouring nodes' states and actions. To dynamically handle this duality of control, a plan of action for multi-priority control is required. In this paper, we propose a method for formation-collision co-awareness by adapting the thin-plate splines algorithm to minimize deformation of the swarm's formation while avoiding obstacles. Furthermore, we use a non-rigid mapping function to reduce the lag caused by such maneuvers. Simulation results show that the proposed methodology maintains the desired formation very closely in the presence of obstacles, while the response time and overall energy efficiency of the swarm is significantly improved in comparison with the existing methods where collision avoidance and formation control are only loosely coupled. Another important result of using non-rigid mapping is that the slowing down effect of obstacles on the overall speed of the swarm is significantly reduced, making our approach especially suitable for time critical missions

Navigation and Mapping in Forest Environment Using Sparse Point Clouds

Odometry during forest operations is demanding, involving limited field of vision (FOV), back-and-forth work cycle movements, and occasional close obstacles, which create problems for state-of-the-art systems. We propose a two-phase on-board process, where tree stem registration produces a sparse point cloud (PC) which is then used for simultaneous location and mapping (SLAM). A field test was carried out using a harvester with a laser scanner and a global navigation satellite system (GNSS) performing forest thinning over a 520 m strip route. Two SLAM methods are used: The proposed sparse SLAM (sSLAM) and a standard method, LeGO-LOAM (LLOAM). A generic SLAM post-processing method is presented, which improves the odometric accuracy with a small additional processing cost. The sSLAM method uses only tree stem centers, reducing the allocated memory to approximately 1% of the total PC size. Odometry and mapping comparisons between sSLAM and LLOAM are presented. Both methods show 85% agreement in registration within 15 m of the strip road and odometric accuracy of 0.5 m per 100 m. Accuracy is evaluated by comparing the harvester location derived through odometry to locations collected by a GNSS receiver mounted on the harvester.</p

Predictability of boreal forest soil bearing capacity by machine learning

In forest harvesting, terrain trafficability is the key parameter needed for route planning. Advance knowledge of the soil bearing capacity is crucial for heavy machinery operations. Especially peatland areas can cause severe problems for harvesting operations and can result in increased costs. In addition to avoiding potential damage to the soil, route planning must also take into consideration the root damage to the remaining trees. In this paper we study the predictability of boreal soil load bearing capacity by using remote sensing data and field measurement data. We conduct our research by using both linear and nonlinear methods of machine learning. With the best prediction method, ridge regression, the results are promising with a C-index value higher than 0.68 up to 200 m prediction range from the closest point with known bearing capacity, the baseline value being 0.5. The load bearing classification of the soil resulted in 76% accuracy up to 60 m by using a multilayer perceptron method. The results indicate that there is a potential for production applications and that there is a great need for automatic real-time sensoring in order to produce applicable predictions. (C) 2016 ISTVS. Published by Elsevier Ltd. All rights reserved

Assessing extraction trail trafficability using harvester CAN-bus data

Modern forest machines with a Controlled Area Network (CAN)-bus managed diesel engine and hydrostatic transmission can continuously measure power expended in traveling. At a constant speed on level ground, the power is expended in overcoming motion resistance, which is directly related to wheel sinkage and hence to site trafficability. In cut-to-length timber harvesting, the harvester precedes the forwarder on the site, making it feasible to utilize the harvester to collect data on site trafficability to produce a trafficability map for the forwarder. CAN-bus trafficability mapping was tested with an 8-wheeled Ponsse Scorpion King harvester and an 8-wheeled Ponsse Elk forwarder instrumented for collecting transmission power expenditure, in addition to appropriate available CAN-bus information. Trafficability was also mapped based solely on momentary engine power in order to eliminate the need for additional pressure transducers. The CANbus data showed good results for mapping site trafficability when compared to soil penetration resistance and harvesting machinery wheel rut depth measurements. Assessing harvester rolling resistance using CAN-bus data offers an interesting possibility to map harvesting site trafficability also in Big Data scale. Since modern harvesters are practically ready for indirect power recording, the additional cost of fully automated and comprehensive trafficability mapping as part of operative forestry is negligible

Time-Gated Raman Spectroscopy for Quantitative Determination of Solid-State Forms of Fluorescent Pharmaceuticals

Raman spectroscopy is widely used for quantitative pharmaceutical analysis, but a common obstacle to its use is sample fluorescence masking the Raman signal. Time-gating provides an instrument-based method for rejecting fluorescence through temporal resolution of the spectral signal and allows Raman spectra of fluorescent materials to be obtained. An additional practical advantage is that analysis is possible in ambient lighting. This study assesses the efficacy of time-gated Raman spectroscopy for the quantitative measurement of fluorescent pharmaceuticals. Time-gated Raman spectroscopy with a 128 X (2) X 4 CMOS SPAD detector was applied for quantitative analysis of ternary mixtures of solid-state forms of the model drug, piroxicam (PRX). Partial least-squares (PLS) regression allowed quantification, with Raman-active time domain selection (based on visual inspection) improving performance. Model performance was further improved by using kernel-based regularized least-squares (RLS) regression with greedy feature selection in which the data use in both the Raman shift and time dimensions was statistically optimized. Overall, time-gated Raman spectroscopy, especially with optimized data analysis in both the spectral and time dimensions, shows potential for sensitive and relatively routine quantitative analysis of photoluminescent pharmaceuticals during drug development and manufacturing

Dynamic forest trafficability prediction by fusion of open data, hydrologic forecasts and harvester-measured data

FOTETRAF project: www.luke.fi/projektit/fotetraf-sa-paatos-295337. Posteri esillä Marcus Wallenberg-palkintoseremonian yhteydessä pidettävässä nuorten tutkijoiden seminaarissa 26-27.10.2017 Tukholmassa (http://www.mwp.org/yr/).201