This is a master thesis of the Master of Science degree program in Applied Physics and Electrical Engineering (Y) at Linköping University. The goal of the projectis to develop an application for creating a map in real time from a video camera on a miniature unmanned aerial vehicle. This thesis project and report is a first exploratory study for this application. It implements a prototype method and evaluates it on sample sequences from an on-board video camera. The method first looks for good points to follow in the image and then tracks them in a sequence.The image is then pasted, or merged, together with previous images so that points from the different images align. Two methods to find good points to follow are examined with focus on real-time performance. The result is that the much faster FAST detector method yielded satisfactory results good enough to replace the slower standard method of the Harris-Stephens corner detector. It is also examined whether it is possible to assume that the ground is a flat surface in this application or if a computationally more expensive method estimating altitude information has to be used. The result is that at high altitudes or when the ground is close to flat in reality and the camera points straight downwards a two-dimensional method will do. If flying lower or with high objects in the picture, which is often the case in this application, it must to be taken into account that the points really are at different heights, hence the ground can not be assumed to be flat.

Single reference coupled cluster theory has been established as the method of choice for calculating electronic properties of small-to-medium size molecules. However, in typical multireference cases, such as bond breaking processes, biradicals, excited states, very high order excitations may be needed in the cluster operator to obtain reliable and accurate results, which is not practical due to the rapidly growing computational costs. Although there has been much e®ort to extend the applicability of single reference methods, there is little doubt that genuine multireference methods are indispensable. The method we are developing, the State Speci¯c Equation of Motion Coupled Cluster (SS-EOMCC) method, generalizes the state universal Equation of Motion Coupled Cluster (EOMCC)methods to a state specific version. SS-EOMCC works for both ground states and excited states. It is rigorously spin-adapted. The cluster operator amplitudes are solved, taking the complete- active-space self-consistent-¯eld function as the reference function. The differential relaxation effects are taken into account by diagonalizing the transformed Hamiltonian in the multireference configuration interaction singles (MRCIS) space. To implement the method, we developed an automatic program generator, the details of which are presented. The strategy used in approximating residual equations in SS-EOMCC is based on a novel normal order theory, which is a generalization of traditional particle-hole formalism based normal order theory. We discuss normal order theory in a general context, start with the version developed by Mukherjee and Kutzelnigg, and we furnish an algebraic proof for the corresponding contraction rules. Then we proceed to show how our normal order theory works. Finally we present the benchmark results to gauge the SS-EOMCC method. We calculate the triplet state state of F₂ to examine the behavior of the method for single reference systems, and study the singlet states of H₂O, CO and N₂ to test its performance for multireference systems. In addition, we illustrate the e®ect of a perturbative correction, which attempts to alleviate the redundancy issue. We also apply the method to study the energetics of end-on and side-on peroxide coordination in ligated Cu₂O₂ models, where SS-EOMCC[+2] employing a small active space achieves quite accurate results. The final diagonalization of the transformed Hamiltonian in the MRCIS space is expensive and limits the applicability of the method. We attempt to develop a cheaper internally contracted multireference coupled cluster method by introducing semi-internal excitation operators in the cluster operator such that the final diagonalization can be confined within the active space, but the results are not satisfactory yet. The Jeziorski-Monkhorst (JM) ansatz has been studied extensively, and different ways to resolve the redundancy issue have been explored. We analyze these JM-ansatz based methods, derive them in a simple way to disclose their connections transparently, and point out some problem in these methods. Another issue of general interest which is examined in the thesis is orbital invariance. For single reference methods the invariance property is usually clear, but this is not always the case for multireference methods. We analyze this problem from the tensor theory point of view, and propose a practical self-consistency-checking algorithm to determine whether a method is orbital invariant or not. We apply the algorithm to different methods, in particular, demonstrating the lack of the invariance property for JM-ansatz based methods.

Current research in multi-agent systems (MAS) has advanced to the development of open MAS, which are characterized by the heterogeneity of agents, free exit/entry and decentralized control. Conflicts of interest among agents are inevitable, and hence automated negotiation to resolve them is one of the promising solutions. This thesis studies three modifications on alternating-offer bargaining protocols for automated negotiation in open MAS. The long-term goal of this research is to design negotiation protocols which can be easily used by intelligent agents in accommodating their need in resolving their conflicts. In particular, we propose three modifications: allowing non-monotonic offers during the bargaining (non-monotonic-offers bargaining protocol), allowing strategic delay (delay-based bargaining protocol), and allowing strategic ignorance to augment argumentation when the bargaining comprises argumentation (ignorance-based argumentation-based negotiation protocol). <p>Utility theory and decision-theoretic approaches are used in the theoretical analysis part, with an aim to prove the benefit of these three modifications in negotiation among myopic agents under uncertainty. Empirical studies by means of computer simulation are conducted in analyzing the cost and benefit of these modifications. Social agents, who use common human bargaining strategies, are the subjects of the simulation. <p>In general, we assume that agents are bounded rational with various degrees of belief and trust toward their opponents. In particular in the study of the non-monotonic-offers bargaining protocol, we assume that our agents have diminishing surplus. We further assume that our agents have increasing surplus in the study of delay-based bargaining protocol. And in the study of ignorance-based argumentation-based negotiation protocol, we assume that agents may have different knowledge and use different ontologies and reasoning engines. <p>Through theoretical analysis under various settings, we show the benefit of allowing these modifications in terms of agents expected surplus. And through simulation, we show the benefit of allowing these modifications in terms of social welfare (total surplus). Several implementation issues are then discussed, and their potential solutions in terms of some additional policies are proposed. Finally, we also suggest some future work which can potentially improve the reliability of these modifications.

The motive of this research is to develop a good stacking method with an automatic material handling system and the procedures that can increase productivity, reduce production costs, and prevent labor injury. A diversity of products leads to a number of different kinds of stacking problems. Much research has been done focusing on two-dimensional arrangement for rectangles, circles or irregular shapes, and threedimensional regular-shaped objects such as rectangular boxes. To solve stacking problems, many algorithms such as the genetic algorithm, simulated annealing and other heuristic algorithms have been proposed. The three-dimensional stacking problem has a practical application in the transportation, manufacturing, and construction industries. There has been relatively little emphasis on three-dimensional irregular objects; however, stacking three-dimensional irregular objects has become more common in industry. In this thesis research, three heuristic algorithms are proposed to stack irregular stone pieces nested in a container with multiple layers. Primary functions of the heuristic algorithms include three major parts. First, it approximates irregular shapes to a cluster of straight lines. Secondly, it arranges the approximated angles one-by-one with the proposed step-by-step rule. Finally, it considers the weight of the stone pieces from the pixel calculation for reasons of stability. The first and second algorithms are based on the area and angle of the stone piece and the third one is based on the approximated weight of the stone. An automatic real-time stacking system including pneumatic devices, sensors, relays, a conveyor, a programmable logic controller, a robotic arm, and a vision system was developed for this study. The algorithms developed were tested by this automatic stacking system for better utilization. Three performance measures were presented in the experimental result. Comparisons between the results from three proposed algorithms and that from the bottom-back-left algorithm are made. Experimental data demonstrate that the utilizations and the stabilities of the three proposed algorithms are statistically better than that of the bottom-back-left algorithm. However, the cycle times of the three proposed algorithms have no statistical difference from that of the bottom-back-left algorithm. In addition, a statistical test between each proposed algorithm is also conducted. Both the utilizations and stabilities have statistical differences between each proposed algorithm while the cycle times do not. The results of this study show that the algorithm developed works effectively for solving the stone-pieces stacking problem.

Thesis (M.Eng.)--Memorial University of Newfoundland, 2002. / CD-ROM has title: CD-ROM companion for Master's thesis. Bibliography: leaves 124-130.

Thesis (M.B.A.)--University of Hong Kong, 1985.

This study evaluated the performance of state-of-the-practice automated rut measurement systems (ARMS) for measuring rutting in the field at highway speeds under Texas conditions. A total of twenty-four 550-ft survey sections were selected with the objective of establishing representative conditions encountered on Texas highways as well as cases considered potentially problematic for automated rutting surveys. Five different ARMS measured the twenty-four sections at highways speeds and reported their best estimates of the transverse profiles coordinates at 552 stations and the Maximum Rut Depth (MRD) values for each wheel-path at 2,664 stations. These measurements were compared with the manual measurements taken statically at the same locations. The reference transverse profiles were manually measured using a laser distance meter and a leveled beam and the reference MRD values were manually measured using a 6ft straight-edge and a gage graduated to 16ths of an inch. In addition, the effect of different experimental variables on each system’s measurement errors was analyzed aiming to detect which pavement characteristics are more challenging for the ARMS. / text

This thesis is an investigation of the reproductive performance of dairy herds managed using automated activity monitoring systems for heat detection (AHD) in comparison to herds using timed artificial insemination programs (TAI). Two approaches were taken: a randomized clinical trial and a retrospective cross-sectional study. In the field trial, pregnancy risk (PR) was not different between the AHD (14.6%) and TAI program (15.9%). Overall, time to pregnancy, time to 1st service and time to 2nd service were not different between breeding programs. In the observational study, annual herd-summary reproductive performance in farms using AHD and TAI were not different. Finally, a retrospective analysis in herds that were using AHD for more than one year compared the years before and after adoption of the system. A significant increase of PR and insemination risk was found. In conclusion, AHD systems had comparable reproductive performance to TAI-based programs. / Ontario Ministry of Agriculture, Food and Rural Affairs. Gencor and SCR Engineers Ltd.

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This paper investigates two distinct, but related, topics in machine vision. The first is the effect of lighting on the performance of a 2D vision-based inspection system. The lighting component of machine vision has often been overlooked; an attempt was made to quantify the impact on existing machine vision algorithms. The second topic explores the applications of a data-rich 3D vision sensor that is capable of providing depth data in a wide range of ambient lightning conditions for industrial applications. A focus is placed on inspection systems with the depth data provided by the sensor. Three basic lighting geometries were compared quantitatively based on discriminant analysis in an inspection task that checked for the presence of J-clips on an aluminum carrier. Two different LabVIEW® machine vision algorithms were used to evaluate backlight, bright field and dark field illumination on their ability to minimize the span of the pass (clip present) and fail (clip absent) sample sets, as well as maximize the separation between these sample sets. Results showed that there were clear differences in performance with the different lighting geometries, with over a 30% change in performance. Although it has long been accepted that the choice of lighting for machine vision systems is not a trivial exercise, this paper provides a quantitative measure of the impact lighting has on the performance of feature-based machine vision. The Microsoft Kinect® is a commercial vision sensor that can simultaneously provide a colour video stream, comparable to current webcam technologies, in addition to a depth stream that provides three-dimensional information of the camera’s field of view and is invariant to environmental lighting. An experiment was carried out to characterize the sensor’s accuracy and precision, and to evaluate its performance as an inspection system to determine the orientation of a wheel. Tests were also conducted to determine the effect that changes in the physical environment had on performance. These changes included camera height, lighting and surface material. Results of the experiment have shown that the sensor has an average precision of ±0.12 cm and average accuracy of 0.5 cm, both with less than a 30% change when varying physical features. A discriminant analysis was performed to measure inspection performance, which showed less than 30% change with set separation, but not for set span. No trends were apparent with the change in set span relating to the change in physical features. / Thesis (Master, Mechanical and Materials Engineering) -- Queen's University, 2012-02-29 18:33:20.505