During the last 10 to 15 years, pedestrian navigation based on zero velocity updates (ZUPT) has become very popular. One of the main reasons for this is the increasing availability of small, low-cost ...inertial measurement units. However, the processing of the data from these units for pedestrian navigation is almost exclusively based on algorithmic features that originate from classical inertial navigation with high-grade sensors. In addition, the historical background of the ZUPT approach presupposes also sensors with high accuracy. This leads to the problem that neither the ZUPT approach nor the algorithmic features mentioned are consistent with the accuracy level of the inertial measurement units used normally for pedestrian navigation. Therefore, the question arises of whether the usual algorithmic basics and numerical procedures employed by ZUPT-based pedestrian navigation are adequate. Supported by a literature review showing the state of the art, this study investigates the effect of basics such as the system states and the usage of Runge-Kutta method on the navigation accuracy from pedestrian inertial data aided by ZUPT. To this end, a comparative processing of a well-known, published dataset of a short walk and of own data from the authors using different data fusion algorithms was employed. The important results of this study are that the often-used omission of inertial sensor biases cannot be recommended, that a continuous-discrete Kalman filter in combination with a Runge-Kutta algorithm performs better than traditional filter configurations, and that total navigation states are an interesting alternative to classical navigation error-states.
To verify and validate networks, it is essential to gain insight into their decisions, limitations as well as possible shortcomings of training data. In this work, we propose a post-hoc, optimization ...based visual explanation method, which highlights the evidence in the input image for a specific prediction. Our approach is based on a novel technique to defend against adversarial evidence (i.e. faulty evidence due to artefacts) by filtering gradients during optimization. The defense does not depend on human-tuned parameters. It enables explanations which are both fine-grained and preserve the characteristics of images, such as edges and colors. The explanations are interpretable, suited for visualizing detailed evidence and can be tested as they are valid model inputs. We qualitatively and quantitatively evaluate our approach on a multitude of models and datasets.
The paper presents the current situation of the waste management system of the megacity Ho Chi Minh in Vietnam, and the options for waste and land recycling in a low income country. Generally, there ...is a large potential for circular economy in the city as the main proportion of the waste flows are recyclables. Due to the missing selective collection system, this potential is not used in the full extend yet, even if the collection of the entire waste volumes is envisaged in the National Waste Management Strategy by 2025. The waste stocks are the landfill locations in the region of Ho Chi Minh City (HCMC), two of them being in operation and two of them already being closed. A special focus is given to the landfill Gò Cát, which was subject to an option analysis in terms of waste and land recycling options. The results indicate that there are several reuse options: the use of the landfill material in a waste-to-energy process after landfill mining, the reuse of the re-gained land in case of landfill mining, the reuse of the capped landfill for energy crop cultivation, and the gasification in a biogas plant in case of a remaining landfill.
The preservation of cultural heritage assets of all kind is an important task for modern civilizations. This also includes tools and instruments that have been used in the previous decades and ...centuries. Along with the industrial revolution 200 years ago, mechanical and electrical technologies emerged, together with optical instruments. In the meantime, it is not only museums who showcase these developments, but also companies, universities, and private institutions. Gyroscopes are fascinating instruments with a history dating back 200 years. When J.G.F. Bohnenberger presented his machine to his students in 1810 at the University of Tuebingen, Germany, nobody could have foreseen that this fascinating development would be used for complex orientation and positioning. At the University of Stuttgart, Germany, a collection of 160 exhibits is available and in transition towards their sustainable future. Here, the systems are digitized in 2D, 2.5D, and 3D and are made available for a worldwide community using open access platforms. The technologies being used are computed tomography, computer vision, endoscopy, and photogrammetry. We present a novel workflow for combining voxel representations and colored point clouds, to create digital twins of the physical objects with 0.1 mm precision. This has not yet been investigated and is therefore pioneering work. Advantages and disadvantages are discussed and suggested work for the near future is outlined in this new and challenging field of tech heritage digitization.
Automated vehicles require a comprehensive understanding of traffic situations to ensure safe and anticipatory driving. In this context, the prediction of pedestrians is particularly challenging as ...pedestrian behavior can be influenced by multiple factors. In this paper, we thoroughly analyze the requirements on pedestrian behavior prediction for automated driving via a system-level approach. To this end we investigate real-world pedestrian-vehicle interactions with human drivers. Based on human driving behavior we then derive appropriate reaction patterns of an automated vehicle and determine requirements for the prediction of pedestrians. This includes a novel metric tailored to measure prediction performance from a system-level perspective. The proposed metric is evaluated on a large-scale dataset comprising thousands of real-world pedestrian-vehicle interactions. We furthermore conduct an ablation study to evaluate the importance of different contextual cues and compare these results to ones obtained using established performance metrics for pedestrian prediction. Our results highlight the importance of a system-level approach to pedestrian behavior prediction.
The mycotoxin alternariol (AOH) is an important contaminant of fruit and cereal products. Concern about exposure to low levels of AOH was raised after the disclosure that contamination of food with ...the AOH-producing species
Alternaria alternata is associated with oesophagal cancer. Previously we have reported that AOH induces kinetochore-negative micronuclei in cultured Chinese hamster V79 cells. The present study investigates the mutagenicity of AOH at the hypoxanthine-guanine phosphoribosyltransferase (HPRT) gene locus in V79 cells and at the thymidine kinase (TK) gene locus in mouse lymphoma L5178Y
tk
+/− cells (MLC). Concentrations of 10
μM AOH and more gave rise to a significant and concentration-dependent induction of HPRT and TK mutations in V79 cells and in MLC, respectively. The mutagenic potency of AOH was about 50-fold lower than that of the established mutagen 4-nitroquinoline-
N-oxide in both cell lines. Discrimination between small and large colonies in the TK assay revealed the predominant induction of small colonies, which are indicative for extensive chromosomal deletions and which correlated with the induction of micronuclei in MLC. The mutagenicity of AOH may have a bearing on the carcinogenicity of this mycotoxin.
The "Machine of Bohnenberger" is considered to be the first gyro with cardanic suspension. As this apparatus forms the precursor of Foucault's Gyroscope of 1852, it rates as the ancestor of all ...gyroscopic instruments. Its inventor, Johann Gottlieb Friedrich Bohnenberger (1765-1831), was a professor of physics, mathematics, and astronomy at the University of Tübingen, Germany, as well as the scientific head-surveying officer of the early Kingdom of Württemberg. Being the direct counterpart of C.F. Gauß in south-west Germany, he made major contributions to introducing modern geodesy in Germany; and besides his Machine, he designed also other various physical instruments. The paper gives an overview over the initial dissemination and the further development of the Machine of Bohnenberger and outlines Bohnenberger's scientific work and life.
A great deal of research has been done during the past few years in the area of wireless selforganizing networks. Generally, this research has been supported by either simulation or theoretical ...analysis, both relying on strong assumptions. However, a key point in coupling research and real-life applications is to understand how realworld conditions impact practical networking aspects. To gain more realistic insights, we deploy an indoor IEEE 802.11 mobile ad hoc network comprising 20 PDAs carried by volunteers for one week. In a subsequent analysis, we explore the impact of mobility and interference on the observed network behavior. A major finding of our analysis is that mobility is the most dominant cause of link failure for links with a long lifetime, whereas other causes (unrelated to mobility) are responsible for the breakage of links with short lifetimes. This inherent property could be used by network protocols in self-organizing networks to optimize link or route repair decisions depending on the age of a link at the time it fails.
This paper addresses the use of multiobject filters based on finite set statistics with a special focus on sensor characteristics for the use in distributed indoor pedestrian tracking with multiple ...sensors. For this purpose, a sensing framework is presented consisting of Lidar sensors together with depth cameras. To make use of previously existing knowledge about the measuring process, an adaptive sensor model is presented with a focus on state-dependent modeling of the sensor characteristics. The model incorporates changes in the probability of detection due to the distance between the object and the sensor, occlusions, and the sensor location-dependent environment. The model is incorporated into three approximations of a Bayes optimal multiobject filter, namely, the probability hypothesis density filter, the cardinalized probability hypothesis filter, and the cardinality balanced multitarget multi-Bernoulli filter. Using labeled sequential Monte Carlo implementations, the filters are evaluated with and without the proposed adaptive sensor models for partly simulated and real data. The evaluation was done using ground truth data obtained by a marker-based motion capture system. It is shown that the adaptive model achieves superior tracking results in simulation and real experiments for all approximations with the cardinalized probability hypothesis filter producing the best results.
PDF
