Visual servoing-based augmented reality

The notion of Augmented Reality (AR) is to mix computer-generated, synthetic elements (3D/2D graphics, 3D audio) with real world in such a way that the synthetic elements appear to be part of the real world. There are various techniques to accomplish this, including magnetic tracking of position and orientation, and video-based tracking. This paper focuses on the video-based AR i

A system for synthetic vision and augmented reality in future flight decks

Rockwell Science Center is investigating novel human-computer interaction techniques for enhancing the situational awareness in future flight decks. One aspect is to provide intuitive displays that provide the vital information and the spatial awareness by augmenting the real world with an overlay of relevant information registered to the real world. Such Augmented Reality (AR) techniques can be employed during bad weather scenarios to permit flying in Visual Flight Rules (VFR) in conditions which would normally require Instrumental Flight Rules (IFR). These systems could easily be implemented on heads-up displays (HUD). The advantage of AR systems vs. purely synthetic vision (SV) systems is that the pilot can relate the information overlay to real objects in the world, whereas SV systems provide a constant virtual view, where inconsistencies can hardly be detected. The development of components for such a system led to a demonstrator implemented on a PC. A camera grabs video images which are overlaid with registered information. Orientation of the camera is obtained from an inclinometer and a magnetometer; position is acquired from GPS. In a possible implementation in an airplane, the on-board attitude information can be used for obtaining correct registration. If visibility is sufficient, computer vision modules can be used to fine-tune the registration by matching visual cues with database features. This technology would be especially useful for landing approaches. The current demonstrator provides a frame-rate of 15 fps, using a live video feed as background with an overlay of avionics symbology in the foreground. In addition, terrain rendering from a 1 arc sec. digital elevation model database can be overlaid to provide synthetic vision in case of limited visibility. For true outdoor testing (on ground level), the system has been implemented on a wearable computer

A housing pattern for present day rural West Bengal, India

Thesis (M.Arch.) Massachusetts Institute of Technology. Dept. of Architecture, 1955.Bibliography: leaf 23.by V. Sundareswaran.M.Arch

Chromatic Excellence in Graphs

Excellence in graphs introduced by G.H. Fricke is extended to partitions of the vertex set with respect to a parameter. A graph G is said to be Chromatic excellent if {v} appears in a chromatic partition of G for every vϵV(G). This paper is devoted to the study of chromatic excellence in graphs

Visualization of the intracavitary blood flow in systemic ventricles of Fontan patients by contrast echocardiography using particle image velocimetry

<p>Abstract</p> <p>Background</p> <p>Flow patterns in univentricular hearts may have clinical value. Therefore, it is our objective to asses and characterize vortex flow patterns with Fontan circulation in comparison with healthy controls.</p> <p>Methods</p> <p>Twenty-three patients (8 Fontan and 15 normal patients) underwent echocardiography with intravenous contrast agent (Sonovue^®) administration. Dedicated software was used to perform particle image velocimetry (PIV) and to visualize intracavitary flow in the systemic ventricles of the patients. Vortex parameters including vortex depth, length, width, and sphericity index were measured. Vortex pulsatility parameters including relative strength, vortex relative strength, and vortex pulsation correlation were also measured.</p> <p>Results</p> <p>The data from this study show that it is feasible to perform particle velocimetry in Fontan patients. Vortex length (VL) was significantly lower (0.51 ± 0.09 vs 0.65 ± 0.12, <it>P </it>= 0.010) and vortex width (VW) (0.32 ± 0.06 vs 0.27 ± 0.04, <it>p </it>= 0.014), vortex pulsation correlation (VPC) (0.26 ± 0.25 vs -0.22 ± 0.87, <it>p </it>= 0.05) were significantly higher in Fontan patients. Sphericity index (SI) (1.66 ± 0.48 vs 2.42 ± 0.62, <it>p </it>= 0.005), relative strength (RS) (0.77 ± 0.33 vs 1.90 ± 0.47, <it>p </it>= 0.0001), vortex relative strength (VRS) (0.18 ± 0.13 vs 0.43 ± 0.14, <it>p </it>= 0.0001) were significantly lower in the Fontan patients group.</p> <p>Conclusions</p> <p>PIV using contrast echocardiography is feasible in Fontan patients. Fontan patients had aberrant flow patterns as compared to normal hearts in terms of position, shape and sphericity of the main vortices. The vortex from the Fontan group was consistently shorter, wider and rounder than in controls. Whether vortex characteristics are related with clinical outcome is subject to further investigation.</p

Computer-Aided Patient-Specific Coronary Artery Graft Design Improvements Using CFD Coupled Shape Optimizer

This study aims to (i) demonstrate the efficacy of a new surgical planning framework for complex cardiovascular reconstructions, (ii) develop a computational fluid dynamics (CFD) coupled multi-dimensional shape optimization method to aid patient-specific coronary artery by-pass graft (CABG) design and, (iii) compare the hemodynamic efficiency of the sequential CABG, i.e., raising a daughter parallel branch from the parent CABG in patient-specific 3D settings. Hemodynamic efficiency of patient-specific complete revascularization scenarios for right coronary artery (RCA), left anterior descending artery (LAD), and left circumflex artery (LCX) bypasses were investigated in comparison to the stenosis condition. Multivariate 2D constraint optimization was applied on the left internal mammary artery (LIMA) graft, which was parameterized based on actual surgical settings extracted from 2D CT slices. The objective function was set to minimize the local variation of wall shear stress (WSS) and other hemodynamic indices (energy dissipation, flow deviation angle, average WSS, and vorticity) that correlate with performance of the graft and risk of re-stenosis at the anastomosis zone. Once the optimized 2D graft shape was obtained, it was translated to 3D using an in-house “sketch-based” interactive anatomical editing tool. The final graft design was evaluated using an experimentally validated second-order non-Newtonian CFD solver incorporating resistance based outlet boundary conditions. 3D patient-specific simulations for the healthy coronary anatomy produced realistic coronary flows. All revascularization techniques restored coronary perfusions to the healthy baseline. Multi-scale evaluation of the optimized LIMA graft enabled significant wall shear stress gradient (WSSG) relief (~34%). In comparison to original LIMA graft, sequential graft also lowered the WSSG by 15% proximal to LAD and diagonal bifurcation. The proposed sketch-based surgical planning paradigm evaluated the selected coronary bypass surgery procedures based on acute hemodynamic readjustments of aorta-CA flow. This methodology may provide a rational to aid surgical decision making in time-critical, patient-specific CA bypass operations before in vivo execution

Visual Servoing using Image Motion Information

Visual servoing is a framework for achieving the tight coupling of camera movements and information from images. We consider a typical visual servoing approach that uses geometric information about image features for controlling the position and attitude of a camera. We claim that image motion information can be used as well. We substantiate this claim by presenting two different approaches to visual tasks that use motion information. The first one uses the focus of expansion. The second one incorporates the parameters of the 2D affine motion model in the control equations. We illustrate both these approaches by means of a task to align the optical axis of the camera with the unknown direction of the translational motion of the system on which it is mounted, and present results of experiments done with a six DOF robot. The contribution of this work is in showing that a tight coupling between the camera behavior and image motion is possible

ir-Excellent Graphs

Terasa W. Haynes et. al. [7], introduced the concept of irredun-dance in graphs. A subset S of V (G) is called an irredundant set of G if for every vertex u 2 S, pn[u; S] ̸= ϕ. The minimum (maximum)cardinality of a maximal irredundant set of G is called the irredundance number of G (upper irredundance number of G) and is denoted by ir(G)(IR(G)). A subset V (G) is called an ir-set if it is an irredundant set of G of cardinality ir(G). A vertex u 2 V (G) is called ir-good if u belongs to an ir-set of G. G is said to be ir-excellent if every vertex of G is ir-good. In this paper, a study of the excellent graphs with respect to irredundance is initiated