COMPARISON OF SELECTED DEVELOPMENT TOOLS WITH SDL LANGUAGE SUPPORT

V diplomskem delu so predstavljena izbrana razvojna orodja s podporo jeziku SDL (Specification and Description Language) – Telelogic SDL Suite, ObjectGEODE, Cinderella in Safire Professional. Orodja smo preverjali z uporabo poenostavljenega protokola V.76, ki je namenjen vzpostavitvi podatkovne povezave in prenosu podatkov med dvema uporabnikoma. V večini orodij smo uvozili obstoječ opis sistema, le v orodju Cinderella smo sistem zgradili tudi sami. V orodju Safire Professional sistema ni bilo mogoče uvoziti, zaradi prevelikega odstopanja od standarda Z.100, tudi lastna izgradnja sistema ni bila uspešna. Delovanje sistema smo praviloma preverili s simulacijo štirih testnih scenarijev. Ob tem smo predstavili uporabniško izkušnjo ter prednosti in slabosti posameznega orodja s poudarkom na preverjanju skladnosti s standardom Z.100.In the diploma work there are four development tools for supporting SDL (Specification and Description Language) evaluated and presented - Telelogic SDL Suite, ObjectGEODE, Cinderella and Safire Professional. These tools were evaluated with the use of simplified example protocol for establishing a connection between two modems and data transfer on the established link. In the first three tools the example was imported. The fourth tool – Safire Professional was not standard compliant enough, so neither the import of the example nor the development of the new one was not possible. The correct operation was verified with a simulation of four scenario. The visual appearance, strengths and weaknesses for each application as well as the compliance with standard Z.100 were presented by these scenario

Estimating any correspondence between two widely-separate views for arbitrarily-selected point, as a contribution to improving image recognition

Eden izmed možnih načinov spremljanja aktivnosti na gradbišču je zajemanje slik z več kamerami, kateremu sledi razpoznavanje posameznih gradbenih elementov in ugotavljanje izgotovljenosti objekta na osnovi 4D modela. Takšen pristop zahteva vzpostavitev korespondence med slikami, zajetimi iz različnih pogledov (kamer). Osnovni problem je torej vzpostavitev korespondence za poljubno izbrano točko, ki se lahko nahaja kjerkoli na sliki (tudi na področjih slike z zelo podobno barvo ali teksturo). V doktorski disertaciji smo razvili novo robustno metodo ASIFT-SH za vzpostavitev korespondence za poljubno izbrano točko pri velikih odmikih dveh kamer, ki je mešanica metod ASIFT, segmentacije in lokalne homografije. Ta metoda sestoji iz štirih korakov: i.) določitve začetnih korespondenčnih točk na slikah obeh pogledov z metodo ASIFT, ii.) združevanja korespondenčnih točk iz prvega koraka v ustrezne podmnožice na osnovi segmentiranih regij, iii.) izračuna lokalnih homografij za posamezno podmnožico korespondenčnih točk, ki pripadajo posamezni segmentirani regiji in iv.) izračuna korespondenčne točke z uporabo ustrezne lokalne homografije. Metoda ASIFT-SH v primerjavi z metodo, ki določi korespondenčne točke na osnovi iskanja v okolici epipremice (metoda EPI), zagotavlja bistveno boljše rezultate, še posebej na področjih slike s podobno intenziteto slikovnih elementov. Povprečna napaka korespondenčnih točk, izračunanih z našo metodo, je nekaj slikovnih elementov, medtem ko je odstopanje korespondenčnih točk, vzpostavljenih z metodo EPI, nekaj sto slikovnih elementov. Kritičen korak metode ASIFT-SH predstavlja segmentacija. Metoda namreč predpostavlja, da segmentirane regije ustrezajo kriteriju koplanarnosti (tj. vse točke v segmentirani regiji ležijo v isti ravnini). V splošnem tega ni mogoče zagotoviti. V naš algoritem smo zato vpeljali še korak adaptivnega prilagajanja, s katerim lahko preoblikujemo segmentirane regije tako, da bolje izpolnjujejo zahtevani kriterij. Vpeljani korak temelji na 3D rekonstrukciji začetnih korespondenčnih točk in iskanju čim manjšega števila ravnin v prostoru, katerim te točke pripadajo. Točke, ki pripadajo posamezni ravnini, predstavljajo novo nastale podmnožice začetnih korespondenčnih točk. Rezultati meritev so pokazali, da vpeljava dodatnega koraka, ki omogoča adaptivno prilagajanje segmentiranih regij na osnovi 3D rekonstrukcije, tj. adaptivna različica metode ASIFT-SH, zagotavlja povečanje natančnosti izračunanih korespondenčnih točk. Uspešnost adaptivnega prilagajanja segmentiranih regij je neposredno odvisna od 3D rekonstrukcije, na katero pa močno vplivajo notranji in zunanji parametri kamere. Ker so kamere na gradbišču izpostavljene različnim okoljskim dejavnikom, ki vplivajo tudi na parametre kamere, smo v naši raziskavi preučili tudi vpliv temperaturnih sprememb na geometrijske lastnosti kamere. Vpliv temperature smo ugotavljali tako za eno kamero, kot tudi za sistem kalibriranih kamer, pri čemer vpliva na elektroniko kamere nismo proučevali. Najprej smo dopolnili analitični model kamere s členom, ki modelira vpliv temperaturnih sprememb na delovanje posamezne kamere. Takšen modificirani analitični model kamere omogoča kvantitativno oceno vpliva temperaturnih sprememb na delovanje kamere. Sprememba temperature neposredno vpliva tudi na natančnost sistema kalibriranih kamer. Oceno takšnega odstopanja smo določili eksperimentalno, saj analitična določitev napake ni mogoča. Na koncu smo definirali skupno odstopanje (napako) kalibriranih kamer, kjer smo upoštevali tako odstopanje zaradi numerične napake kalibracijske metode in postopka 3D rekonstrukcije, kot tudi odstopanje, ki je posledica vpliva temperaturnih sprememb. Rezultati raziskave so pokazali, da se vpliv temperature zmanjšuje z večanjem razdalje med kamero in opazovanim objektom. V predvidenih delovnih pogojih na gradbišču, se vpliv temperaturnih sprememb na sliki odraža za manj kot en slikovni element.One possible method of monitoring activities on the building site is based on capturing images using multiple cameras, followed by the recognition of individual building components, and then identifying an object\u27s status based on a 4D model. Such an approach requires the establishment of some correspondence between those images captured from different viewpoints (cameras). The basic problem is, therefore, the establishment of any correspondence at an arbitrarily selected point, which could be located anywhere on the image (also on image areas with uniform colour or texture). This doctoral dissertation develops a new robust ASIFT-SH method for establishing any correspondence between arbitrarily-selected points within two widely-baselined cameras, which is a combination of the ASIFT method, segmentation, and local homography. This method consists of four steps: i) determining the initial corresponding points within the images of both views by using the ASIFT method, ii.) grouping of initial corresponding points from the first step into subsets, based on segmented regions iii.) calculation of local homographies for a particular subset of corresponding points, and iv.) determining any correspondence between arbitrary points from a particular camera\u27s viewpoint, by using a suitable local homography. The ASIFT-SH method, when compared to that of searching the area surrounding an epipolar line (EPI method), provides more accurate results, especially on surfaces with similar pixel intensities. The average error in our method comes within the order of a few pixels, whilst for the EPI method it is within the order of a few hundred pixels. The critical step of the ASIFT-SH method concerns segmentation. The segmentation presupposes that the segmented regions correspond to the coplanarity criteria (i.e., all points in the segmented region are located within the same plane). In general, this cannot be ensured. Therefore, we have introduced into our algorithm a step for adaptive adjustment, within which segmented regions are remodelled so that they better meet the required criterion. This introduced step is based on 3D reconstruction of the initial corresponding points, and a search for the minimal number of planes within the 3D space, to which these points belong. Those points that belong to a particular plane, represent a newly-created subset of the initial corresponding points. The results point out that the introduction of additional step enables an adaptive adjustment of segmented regions based on the 3D reconstruction, i.e. an adaptive version of the ASIFT-SH method, thus assuring more accurate calculation of the corresponding points. The success of adaptively adjusting segmented regions directly depends on the 3D reconstruction, which is, however, strongly affected by intrinsic and extrinsic camera parameters. Since cameras at a building site are exposed those different environmental factors which also affect the cameras\u27 parameters, therefore, in our study we investigated any influence of temperature variations on the geometric properties of the camera. Temperature influence on the geometrical properties of both a single camera and a calibrated camera system was estimated, whereas the influence on camera electronics was ignored. Firstly, the analytical camera model was supplemented with a term, which models the influence of temperature variations over a single camera\u27s operation. A modified analytical camera model enabled quantitative assessment regarding the influence of temperature variations on a camera\u27s operation. Temperature variations also directly influence the accuracies of calibrated cameras. The inability to analytically-determine the calibration method error magnitude, led us to experimentally-estimate any errors regarding calibrated cameras. Finally, the total errors regarding calibrated cameras were derived at by combining the numerical errors of the calibration method and 3D reconstruction with those errors originating from temperature variations. The results show that the influence of temperature vari

Numerical simulation of processes in a diesel engine using biofuels

V želji po zmanjšanju škodljive emisije se vedno bolj uporabljajo alternativna goriva, zlasti biogoriva. Čeprav so nekatere splošne zakonitosti že znane, pa se vpliv biogoriva na karakteristike motorja zelo razlikuje od uporabljene surovine za biogorivo, od proizvajalca biogoriva, od vrste motorja in njegovega vbrizgalnega sistema. Zato so vedno znova potrebne eksperimentalne numerične raziskave, če želimo, da ne pride do problemov pri delovanju motorja. Za ta namen je bil izdelan testni numerični model dizelskega motorja s pomočjo programskega paketa AVL BOOST. Na ta način se bo izvedel numerični eksperiment. Tako dobljeni rezultati bodo pokazali vpliv biogoriva na karakteristike dizelskega motorja.In order to reduce harmful emissions biofuels are used more extendedly. Even though some of their properties are known to us, their influence on internal combustion engines is not yet fully investigated. This depends on the ingredients the biofuel is made of, the engine type and the engine fuel supply system. Therefore new experimental and numerical analyses are needed to evaluate the influence of biofuels, so that the engines using them will operate without problems. For that purpose a test model was created using a numerical package. That way a numerical experiment will be conducted to evaluate the influence of biodiesel on engines designed to use conventional fuels

SIMULATION OF TREE ROOTS SYSTEM AS A BASE FOR DESIGNING OF FOUNDATIONS

Rziskovanje potencialov in prevod naravnih rešitev v gradbeno in tehnološko prakso. S poudarkom na koreninskem sistemu in njegovi pomembni vlogi pri razvoju temeljenja in geotehničnih objektov.Research of natural potentials and translation of solutions in the construction and engineering practice. With a focus on the root system and its important role in the development of foundatios and geotechnical structures

Development of interval and harmony didactic games with sound input for the Trubadur platform

V diplomski nalogi so predstavljene težave pri glasbenem učenju od doma. Poudarek je na vajah intervalnega in harmonskega nareka, ki jih morajo učenci odpeti. Pri vadbi doma so namreč brez učitelja, ki bi jim dal povratne informacije o točnosti odpete vaje. Razvili smo igri harmonskega in intervalnega nareka, ki z uporabo mikrofona na mobilnih telefonih snemata zvok. Iz zvočnega posnetka v resničnem času nato razbereta note in jih v uporabniškem vmesniku predstavita uporabniku. Igri smo vključili v obstoječo platformo Trubadur, ki se že uporablja pri pouku na Konservatoriju za glasbo in balet v Ljubljani. Igri smo najprej razvili za mobilno platformo Android, kasneje pa smo dodali tudi podporo za platformo IOS. Na Konservatoriju smo potem dve različici uporabniškega vmesnika evalvirali z dijaki prvega letnika. Z evalvacijo smo ugotovili, da je snov v igrah primerna za to skupino učencev. Pridobili smo povratne informacije, ki smo jih uporabili za izboljšanje aplikacije in ugotovili, da so uporabniki bolje sprejeli drugo evalvirano različico uporabniškega vmesnika.In this thesis, we describe the problems with music learning at home. With the emphasis on exercises of interval and harmonic dictation that the students must sing. When they are at home, they don\u27t have access to a teacher who would give them feedback about the correctness of the sang exercise. We developed two games of harmonic and interval dictation that use the microphone on a mobile phone to record sound. They extract notes from the sound recording and then present them to the user in the user interface. We included the game into the existing platform Trubadur that is already used in class at the Conservatory for music and ballet in Ljubljana. At first, we developed the games for the Android mobile platform and later we added support for the IOS platform. At the Conservatory, we evaluated two versions of the user interface with first year students. We found out that the game\u27s educational content is appropriate for these students. We gathered feedback that was later used to improve the application and we found out that the users preferred the second evaluated version of the user interface

Analytical Camera Model Supplemented with Influence of Temperature Variations

Abstract—A camera in the building site is exposed to different weather conditions. Differences between images of the same scene captured with the same camera arise also due to temperature variations. The influence of temperature changes on camera parameters were modelled and integrated into existing analytical camera model. Modified camera model enables quantitatively assessing the influence of temperature variations. Keywords—camera calibration, analytical model, intrinsic parameters, extrinsic parameters, temperature variations. I

Influence of Temperature Variations on Calibrated Cameras

Abstract—The camera parameters are changed due to temperature variations, which directly influence calibrated cameras accuracy. Robustness of calibration methods were measured and their accuracy was tested. An error ratio due to camera parameters change with respect to total error originated during calibration process was determined. It pointed out that influence of temperature variations decrease by increasing distance of observed objects from cameras. Keywords—camera calibration, perspective projection matrix, epipolar geometry, temperature variation. I