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International Telemetering Conference Proceedings / October 25-28, 1993 / Riviera Hotel and Convention Center, Las Vegas, Nevada / NASA Goddard Space Flight Center (GSFC) has developed a set of functional telemetry processing components based upon Very Large Scale Integration (VLSI) and Application Specific Integrated Circuits (ASIC). These components provide a framework for the assembly of telemetry data ground systems for space projects such as the Earth Observing System (EOS) and the Small Explorer (SMEX) mission series. Implementation of the ground systems for such projects using a common set of functional components has obvious cost benefits in both systems development and maintenance. Given the existence of these components, the next logical step is to utilize a similar approach and create a set of reusable software components for the implementation of telemetry data system monitoring and control functions. This paper describes a generalized set of software components, called the Telemetry Processing Control Environment (TPCE), which has been developed to fulfil this need. This combination of hardware and software components enables the rapid development of flexible, cost-effective telemetry processing systems capable of meeting the performance requirements facing NASA in the coming decade.

This thesis presents a general framework and method for detection of an object in a video based on apparent motion. The object moves, at some unknown time, differently than the “background” motion, which can be induced from camera motion. The goal of proposed method is to detect and segment the object as soon it moves in an online manner. Since motion estimation can be unreliable between frames, more than two frames are needed to reliably detect the object. Observing more frames before declaring a detection may lead to a more accurate detection and segmentation, since more motion may be observed leading to a stronger motion cue. However, this leads to greater delay. The proposed method is designed to detect the object(s) with minimum delay, i.e., frames after the object moves, constraining the false alarms, defined as declarations of detection before the object moves or incorrect or inaccurate segmentation at the detection time. Experiments on a new extensive dataset for moving object detection show that our method achieves less delay for all false alarm constraints than existing state-of-the-art.

Object Recognition is the art of localizing predefined objects in image sensor data. In this thesis a depth sensor was used which has the benefit that the 3D pose of the object can be estimated. This has applications in e.g. automatic manufacturing, where a robot picks up parts or tools with a robot arm. This master thesis presents an implementation and an evaluation of a system for object recognition of 3D models in depth sensor data. The system uses several depth images rendered from a 3D model and describes their characteristics using so-called feature descriptors. These are then matched with the descriptors of a scene depth image to find the 3D pose of the model in the scene. The pose estimate is then refined iteratively using a registration method. Different descriptors and registration methods are investigated. One of the main contributions of this thesis is that it compares two different types of descriptors, local and global, which has seen little attention in research. This is done for two different scene scenarios, and for different types of objects and depth sensors. The evaluation shows that global descriptors are fast and robust for objects with a smooth visible surface whereas the local descriptors perform better for larger objects in clutter and occlusion. This thesis also presents a novel global descriptor, the CESF, which is observed to be more robust than other global descriptors. As for the registration methods, the ICP is shown to perform most accurately and ICP point-to-plane more robust.

Object recognition is a skill we as humans often take for granted. Due to our formidable object learning, recognition and generalisation skills, it is sometimes hard to see the multitude of obstacles that need to be overcome in order to replicate this skill in an artificial system. Object recognition is also one of the classical areas of computer vision, and many ways of approaching the problem have been proposed. Recently, visually capable robots and autonomous vehicles have increased the focus on embodied recognition systems and active visual search. These applications demand that systems can learn and adapt to their surroundings, and arrive at decisions in a reasonable amount of time, while maintaining high object recognition performance. This is especially challenging due to the high dimensionality of image data. In cases where end-to-end learning from pixels to output is needed, mechanisms designed to make inputs tractable are often necessary for less computationally capable embodied systems.Active visual search also means that mechanisms for attention and gaze control are integral to the object recognition procedure. Therefore, the way in which attention mechanisms should be introduced into feature extraction and estimation algorithms must be carefully considered when constructing a recognition system.This thesis describes work done on the components necessary for creating an embodied recognition system, specifically in the areas of decision uncertainty estimation, object segmentation from multiple cues, adaptation of stereo vision to a specific platform and setting, problem-specific feature selection, efficient estimator training and attentional modulation in convolutional neural networks. Contributions include the evaluation of methods and measures for predicting the potential uncertainty reduction that can be obtained from additional views of an object, allowing for adaptive target observations. Also, in order to separate a specific object from other parts of a scene, it is often necessary to combine multiple cues such as colour and depth in order to obtain satisfactory results. Therefore, a method for combining these using channel coding has been evaluated. In order to make use of three-dimensional spatial structure in recognition, a novel stereo vision algorithm extension along with a framework for automatic stereo tuning have also been investigated. Feature selection and efficient discriminant sampling for decision tree-based estimators have also been implemented. Finally, attentional multi-layer modulation of convolutional neural networks for recognition in cluttered scenes has been evaluated. Several of these components have been tested and evaluated on a purpose-built embodied recognition platform known as Eddie the Embodied. / Embodied Visual Object Recognition / FaceTrack

The object mouthing of a developmentally delayed 8-year-old girl was assessed and treated in a classroom setting. Two pretreatment assessments were conducted: A functional analysis indicated that object mouthing occurred across test conditions and persisted in the absence of social contingencies, and assessment of stimulus preference identified reinforcers to be used during treatments. Based on assessment outcomes, two treatments were implemented. Noncontingent sensory reinforcement was implemented during free-time and group activities, resulting in a 74.3% decrease in object mouthing across three settings. During one-on-one educational activities, presentation of academic task-trials at a high rate decreased object mouthing by 85.7%, relative to a condition in which tasks were presented at a slower rate.

Cette recherche se propose de revisiter l'histoire de l'autisme dans ses rapports avec la schizophrénie en interrogeant leur statut respectif dans la psychopathologie et dans la psychanalyse. Outre l'apport de cas de la littérature, j'ai utilisé l'outil clinique de la construction de cas, pour ordonner et commencer à théoriser les rencontres cliniques que j'ai pu faire. Ilhoa,Sacha, Milo et Louis guident les développements théoriques du chapitre axé sur la question du corps, de l'espace de surface à une contenance, de l'objet et de la jouissance pulsionnelle (orale, anale, scopique, invoquante) dans l'autisme de Kanner. Le travail de Jules, David et Lison illustre la difficulté du diagnostic dans la clinique entre schizophrénie autistique et autisme, où parfois seule la question des hallucinations permet de trancher. Je me suis ensuite appuyée sur le travail de Manu et Léon pour rendre compte du rapport au langage, à la pensée, au vivant, aux affects et à l'autre dans l'autisme de haut niveau et le syndrome d'Asperger. Puis sur le récit de Anna, Max et Gaël pour identifier le traitement réel que le schizophrène, qui a une défense mélancolique ou paranoïde, produit de la perte symbolique, de la division subjective. Ces rencontres m'ont appris que la singularité de ces sujets cache une forme spéciale de créativité pour construire un monde plus ordonné. Des modalités de lien à l'autre s'inventent, dans une dépendance n'impliquant pascependant les mêmes modalités de jouissance... Si cela ne voile pas la part intraitable du réel, un travail avec ces sujets est toujours possible, même s'ils ne se manifestent pas et ne parlent pas, même s'ils sont en errance ou dans un entre-deux... Ainsi, l'a-structure de l'autisme n'est pas assimilable au conformisme ou à la dé-structuration qu’entraîne la schizophrénie / This research proposes to revisit the history of autism in its relations with schizophrenia by querying their respective status in the psychopathology and psychoanalysis. In addition to providing case of literature, I used the tool in the construction of clinical cases, to order and begin to theorize the clinical encounters that I have done. Ilhoa, Sacha, Milo and Louis are used as guide for the theoretical developments of the chapter focusing on the question of the body, the space of a surface to capacity, the purpose and enjoyment instinctual (oral, anal, scopic, citing) in 'Kanner autism'. The work of Jules, David and Lison illustrates the difficulty to diagnose between schizophrenia and autism in the clinic, where sometimes only the question of sign and hallucinations enable us to decide. I have then used the work of Manu and Leon to account for the relation to language, to the thought, the living, the affects and the other in the high-functioning autism and Asperger syndrome. Then the story of Anna Max and Gael to identify the actual treatment that the schizophrenic, who has a melancholic or paranoid defence product of the symbolic loss, of the subjective division. These encounters have taught me that in the uniqueness of these individuals lies a special form of creativity to build a more ordered world. Schemes oflinks to the other are invented, which doesn't imply the same terms enjoyment by both parties… If this does not obscure the part of the intractable reality, working with these subjects is always possible, even if they do not come forward and do not speak, even if they are wandering or in an in-between state... Hence, autism astructure is not comparable to the conformism or the deconstruction brought about by schizophrenia

In this thesis, two methods are developed in an aid to help users capture valuable design information and knowledge and reuse them. They are the design pattern recovery (DPR) method and pattern-based redocumentation (PBR) method. The DPR method is for matching up metrics of patterns with patterns themselves in order to capture valuable design information. Patterns are used as a container for storing the information. Two new metrics, i.e., p-value and s-value are introduced. They are obtained by analysing product metrics statistically. Once patterns have been detected from a system, the system can be redocumented using these patterns. Some existing XML (extensible Markup Language) technologies are utilised in order to realise the PRB method. Next, a case study is carried out to validate the soundness and usefulness of the DPR method. Finally, some conclusions drawn from this research are summarised, and further work is suggested for the researchers in software engineering.

<p>Relationships between motor development and language abilities have been consistently reported in previous literature. One of the relationships that has becoming increasing popular is the link between walking and language. Whereas research has demonstrated that onset of walking is related to communicative skills and vocabulary abilities (e.g., Clearfield, 2011; Walle & Campos, 2014), the mechanism underlying this relationship remains unclear. One potential explanation is that walking increases young children’s opportunities to interact with objects and explore the environment. Young children’s ability to adapt gait while playing is necessary for successful navigation of their environment and may be one factor underlying the walking-language relationship. However, little research has examined how young children adapt gait when interacting with objects in their environment when they are free to walk in a naturalistic manner. Additionally, how young children’s gait control and behavior during free-play is related to word learning has also been understudied. The purpose of this dissertation was to quantify how new and experienced walkers adapt gait behavior based on task (carrying objects compared to not carrying objects) and environmental constraints (free-play versus straight-path) and assess how these behaviors may be related to language abilities early in development. </p> <p><br></p><p>Chapter 3 examined how object carriage impacts gait characteristics and behavioral measures of stability during free-play and a straight-path task. New (13-month-olds) and experienced (24-month-olds) walkers engaged in a 20-minute free-play session with their parents. Eighteen toys that varied in size and weight were provided. Following the free-play session, new and experienced walkers engaged in a straight-path task where they were encouraged to walk from their parents to the experimenter, take a toy, and carry the toy back to their parent. Overall, size and weight did not appear to impact lower-body gait characteristics. Although there were no differences in lower-body gait control when carrying a toy compared to not carrying a toy, there were individual differences in how young children adapted their step length, step width, and stride speed with some children adopting more mature gait characteristics and others adopting less mature gait patterns. Young children’s lower-body gait also differed based on environmental constraints (free-play versus straight-path task). In addition to these lower-body findings, new and experienced walkers also adapted their upper-body control when carrying toys in both free-play and the straight-path task. New walkers also appear to focus on weight of the toy when selecting toys to carry whereas experienced walkers did not demonstrate preference for specific toy characteristics. </p> <p><br></p><p>Chapter 4 assessed the relationship between gait characteristics and functional behavior during free-play and communicative/vocabulary abilities in new and experienced walkers. Thirty-eight new walkers and thirty-eight experienced walkers from Chapter 3 were included in the analyses. Additionally, thirteen new walkers also returned at 24-months and repeated the data collection procedure for a longitudinal analysis of these relationships. The protocol for Chapter 3 was the same as Chapter 4; however, only free-play measures were included in the analyses. Parents also filled out the age-appropriate version of the MacArthur-Bates Communicative Development Inventory as a measure of communicative/vocabulary abilities. Overall, the results of Chapter 4 demonstrated that quality of upper-body gait control and time spent in motion were significant predictors of new walkers’ communicative skills and vocabulary abilities. Whereas these relationships were not apparent in the experienced walking group, quality of gait at 13-months was predictive of productive vocabulary scores at 24-months of age. </p> <p><br></p><p>Taken together, the results from these studies suggest that examining gait behavior during free-play reveals how complex young children’s navigation of their environment is. Furthermore, these early movements and functional behavior during free-play may be important predictors underlying the relationship between onset of walking and language development.</p>