Sea state from monoscopic ocean video in real environments

Video of the ocean surface is used as a means for estimating useful information about the scene. A methodology is first introduced for approximating the pixel to metre scale from high-scale videos of the ocean, such as from an aeroplane. Radar images are used for testing. The temporal and spatial domains are associated through the phase modulation of waves, and a process is introduced that selects the waves with the highest energy to be used for estimating the pixel scale. The spatial information is then used with the calculated pixel scale for approximating the sea state. Due to the difficulty of obtaining high-scale videos, a methodology is then introduced that uses the temporal variation from video, and specifically time series of pixel intensities. It aims to isolate and utilise the temporal variation of the wave field from all other video elements, such as environmental brightness fluctuations. The methodology utilises the Kalman filter and the least squares approximate solution for providing an uncalibrated video amplitude spectrum. A method is proposed for scaling this spectrum to metres with the use of an empirical model of the ocean. The significant wave height is estimated from the calibrated video amplitude spectrum. Videos of the ocean in real environments from a shipborne camera and a tower are used for testing. In both sets of data, in situ buoy information is used solely for validation. The next technique aims to approximate the sea state from the same kind of data, namely videos of the ocean in real environments, without calibrating a video amplitude spectrum. The proposed methodology tracks the principal component of the movement of water in the video, which is speculated to be associated with the dominant frequency of the ocean. To accomplish this, the singular spectrum analysis algorithm and the extended Kalman filter are used. Then, the shape of an empirical spectrum is utilised in order to translate the dominant frequency output into a significant wave height estimation. The problem of not using ocean theory associated with a particular empirical energy spectrum for calibration is examined in the next methodology. A secondary oscillatory component from the singular spectrum analysis algorithm is identified with the incorporation of the extended Kalman filter. Ocean theory involving the equilibrium range of oceans is used for calibration. The shipborne videos are used for testing the behaviour of the techniques for approximately the same sea state of 3.1m to 3.4m of significant wave height. The tower videos are used for testing the techniques for a variety of sea states ranging between 0.5m and 3.6m of significant wave height. From all methodologies, the maximum observed values of root mean square error 0.37m and of mean absolute percentage error 18% suggest that the work is promising at estimating these states

Lease Maturity and Initial Rent: Is There a Term Structure for UK Commercial Property Leases?

This paper investigates the relationship between lease maturity and rent in commercial property. Over the last decade market-led changes to lease structures, the threat of government intervention and the associated emergence of the Codes of Practice for commercial leases have stimulated growing interest in pricing of commercial property leases. Seminal work by Grenadier (1995) derived a set of hypotheses about the pricing of different lease lengths in different market conditions. Whilst there is a compelling theoretical case for and a strong intuitive expectation of differential pricing of different lease maturities, to date the empirical evidence is inconclusive. Two Swedish studies have found mixed results (Gunnelin and Soderbergh 2003 and Englund et al 2003). In only half the cases is the null hypothesis that lease length has no effect rejected. In the UK, Crosby et al (2003) report counterintuitive results. In some markets, they find that short lease terms are associated with low rents, whilst in others they are associated with high rents.  Drawing upon a substantial database of commercial lettings in central London (West End and City of London) over the last decade, we investigate the relationship between rent and lease maturity. In particular, we test whether a building quality variable omitted in previous studies provides empirical results that are more consistent with the theoretical and intuitive a priori expectations. It is found that initial leases rates are upward sloping with the lease term and that this relationship is constant over time.Term Structure of Leases, Office Rents, London

Autonomous Task Planning for Heterogeneous Multi-Agent Systems

This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal framework is developed based on the Nondeterministic Finite Automata with $\epsilon$-transitions, where given the capabilities, constraints and failure modes of the agents involved, an initial state of the system and a task specification, an optimal solution is generated that satisfies the system constraints and the task specification. The resulting solution is guaranteed to be complete and optimal; moreover a heuristic solution that offers significant reduction of the computational requirements while relaxing the completeness and optimality requirements is proposed. The constructed system model is independent from the initial condition and the task specification, alleviating the need to repeat the costly pre-processing cycle for solving other scenarios, while allowing the incorporation of failure modes on-the-fly. Two case studies are provided: a simple one to showcase the concepts of the proposed methodology and a more elaborate one to demonstrate the effectiveness and validity of the methodology.Comment: Long version of paper submitted to the IEEE ICRA 2023 Conferenc

Lease maturity and initial rent: is there a term structure for UK commercial property leases?

This paper investigates the relationship between lease maturity and rent in commercial property. Over the last decade market-led changes to lease structures, the threat of government intervention and the associated emergence of the Codes of Practice for commercial leases have stimulated growing interest in pricing of commercial property leases. Seminal work by Grenadier (1995) derived a set of hypotheses about the pricing of different lease lengths in different market conditions. Whilst there is a compelling theoretical case for and a strong intuitive expectation of differential pricing of different lease maturities, to date the empirical evidence is inconclusive. Two Swedish studies have found mixed results (Gunnelin and Soderbergh 2003 and Englund et al 2003). In only half the cases is the null hypothesis that lease length has no effect rejected. In the UK, Crosby et al (2003) report counterintuitive results. In some markets, they find that short lease terms are associated with low rents, whilst in others they are associated with high rents. Drawing upon a substantial database of commercial lettings in central London (West End and City of London) over the last decade, we investigate the relationship between rent and lease maturity. In particular, we test whether a building quality variable omitted in previous studies provides empirical results that are more consistent with the theoretical and intuitive a priori expectations. It is found that initial leases rates are upward sloping with the lease term and that this relationship is constant over time

Computing the entropy of user navigation in the web

Navigation through the web, colloquially known as "surfing", is one of the main activities of users during web interaction. When users follow a navigation trail they often tend to get disoriented in terms of the goals of their original query and thus the discovery of typical user trails could be useful in providing navigation assistance. Herein, we give a theoretical underpinning of user navigation in terms of the entropy of an underlying Markov chain modelling the web topology. We present a novel method for online incremental computation of the entropy and a large deviation result regarding the length of a trail to realize the said entropy. We provide an error analysis for our estimation of the entropy in terms of the divergence between the empirical and actual probabilities. We then indicate applications of our algorithm in the area of web data mining. Finally, we present an extension of our technique to higher-order Markov chains by a suitable reduction of a higher-order Markov chain model to a first-order one

The impact of reverberant self-masking and overlap-masking effects on speech intelligibility by cochlear implant listeners (L)

This is the published version, also available here: http://dx.doi.org/10.1121/1.3614539.The purpose of this study is to determine the relative impact of reverberant self-masking and overlap-masking effects on speech intelligibility by cochlear implant listeners. Sentences were presented in two conditions wherein reverberant consonant segments were replaced with clean consonants, and in another condition wherein reverberant vowel segments were replaced with clean vowels. The underlying assumption is that self-masking effects would dominate in the first condition, whereas overlap-masking effects would dominate in the second condition. Results indicated that the degradation of speech intelligibility in reverberant conditions is caused primarily by self-masking effects that give rise to flattened formant transitions

Stabilization of Multiple Robots on Stable Orbits via Local Sensing

We develop decentralized controllers for a team of disk-shaped robots to converge to and circulate along the boundary of a desired two-dimensional geometric pattern specified by a smooth function with collision avoidance. The proposed feedback controllers rely solely on each robot\u27s range and bearing sensors which allow them to obtain information about positions of neighbors within a given range. This is relevant for applications such as perimeter surveillance or containing hazardous regions where limited bandwidth must be preserved for situational awareness. The computational complexity of the decentralized controller for each agent is linear in the number of neighboring agents, making it scalable to robot swarms. We establish stability and convergence properties of the controllers and verify the feasibility of the method through computer simulations

Sea state from ocean video with singular spectrum analysis and extended Kalman filter

This is the final version. Available on open access from Springer via the DOI in this recordA method for estimating key parameters of ocean waves (the dominant frequency and the significant wave height) from uncalibrated monoscopic video is proposed, based on temporal variation of the wave field, specifically time series of pixel intensities. The methodology tracks the principal component of the movement of water in the video, which we propose is associated with the dominant frequency of the ocean. To accomplish this, the singular spectrum analysis algorithm and the extended Kalman filter are used. Then, the shape of an empirical spectrum is used in order to translate the dominant frequency output into a significant wave height estimation

Sea State Estimation from Uncalibrated, Monoscopic Video

This is the final version. Available on open access from Springer via the DOI in this recordVideo of the ocean surface is used as a means for estimating the sea state. Time series of pixel intensity values are given as input to a method that uses the Kalman filter and the least squares approximate solution for estimating the uncalibrated video amplitude spectrum. A method is proposed for scaling this spectrum to metres with the use of an empirical model of the ocean. The significant wave height is estimated from the calibrated video amplitude spectrum. The results are tested against two sets of video data, and buoy measurements in both cases are solely used for indicating the true state. For significant wave height values between 0.5 and 3.6 m, the maximum observed value of root mean square error is 0.37 m and of mean absolute percentage error 16%

The adoption of water saving irrigation practices in the Region of West Macedonia

The use of irrigation water for agricultural production requires innovative and sustainable research and an appropriate transfer of water saving technologies. The main aim of this paper is to explore the irrigating behaviour of farmers examining factors affecting their decision to adopt novel water saving practices. In order to achieve the above aim both summary statistics and multivariate methodologies are employed. In particular, a two-step cluster analysis was used to explore the different adoption levels of water saving practices and a categorical regression model was estimated to explain this variation. Data were collected through a survey addressing 400 irrigators, carried out in 2008 in a typical Greek rural area. Results show that although respondents have already adopted several water saving practices the current irrigated agriculture cannot be sustained in a sustainable manner.adoption-diffusion, extension, irrigation, water saving, water policy, Agricultural and Food Policy, Community/Rural/Urban Development, Crop Production/Industries, Farm Management, Land Economics/Use,