568 research outputs found
FAST-EDI
No full text# Fast Event-based Double Integral for Real-time Robotics (Academic Use Only)
## [Paper](https://arxiv.org/abs/2305.05925) | [Video: Youtube](https://www.youtube.com/watch?v=xzrHNA97wls) | [Video: Bilibili](https://www.bilibili.com/video/BV1qL411X7hc/?share_source=copy_web&vd_source=2483c9488f1bd3f3478cf69bfca4d49e)
Motion deblurring is a critical ill-posed problem that is important in many vision-based robotics applications. The recently proposed event-based double integral (EDI) provides a theoretical framework for solving the deblurring problem with the event camera and generating clear images at high frame-rate. However, the original EDI is mainly designed for offline computation and does not support real-time requirement in many robotics applications. In this paper, we propose the fast EDI, an efficient implementation of EDI that can achieve real-time online computation on single-core CPU devices, which is common for physical robotic platforms used in practice. In experiments, our method can handle event rates at as high as 13 million event per second in a wide variety of challenging lighting conditions. Its benefit has been demonstrated on multiple downstream real-time applications, including localization, visual tag detection, and feature matching.
## Understanding the hardware bias of event camera
[Tutorial of the bias](https://gitlab.com/inivation/inivation-docs/blob/master/Advanced configurations/User_guide_-_Biasing.md)
## Checking the hardware bias using the jAER
One can use the jAER project to get a roughly estimated contrast from the bias currents that are estimated to be generated by the on-chip bias generator bias current ratios:[jAER homepage](https://github.com/SensorsINI/jaer)
Discussion regarding the bias estimation:[discussion](https://groups.google.com/g/davis-users/c/68gp0zxTMUk/m/SpweyJKrDgAJ)
and the physical model that build to estimate the threshold:[Paper](https://ieeexplore.ieee.org/document/7962235/)
## Usage
Test env:
```
ubuntu 18.04
dv-runtime 1.6.1
dv-gui 1.6.0
```
1. download the DV and install it following the tutorial [DV install guide](https://inivation.gitlab.io/dv/dv-docs/docs/getting-started.html)
2. download the fast EDI code
```
git clone https://github.com/eleboss/fast_EDI
```
3. compile the fast EDI module
```
cd ./dv-module/fast-edi
cmake ./
make
```
then you will see the `fedi_FEDI.so`, this is the file you need to add to the dv-gui.
4. configure the DV-GUI search path
```
dv-gui
```
find the `structure - add modules - modify module search path - add path` (this path leads to `fedi_FEDI.so`, for me is `/home/eleboss/Documents/fast_EDI/dv-module/fast-edi`). Then you can add the fast edi modules to the dv-gui and wires it in this way:
5. download the test data [dataset](www.google.com), and play it.
Performance tips: You can tune the contrast or use the jAER to estimate, or use EDI to optimize an accurate contrast.
## Citation
```
@article{lin2023fast,
title={Fast Event-based Double Integral for Real-time Robotics},
author={Lin, Shijie and Zhang, Yingqiang and Huang, Dongyue and Zhou, Bin and Luo, Xiaowei and Pan, Jia},
booktitle={international conference on robotics and automation (ICRA)},
year={2023},
organization={IEEE}
}
```
</p
Teaching through Challenges for Equity, Diversity, and Inclusion (EDI)
No full textStephanie Burrell Storms and Jay Rozgonyi (with Kathi Rainville) are contributing authors, From Awareness to Action: Creating PSAs to Promote EDI, Chapter 5.
Betsy Bowen is a contributing author, Disturbing Voices: Literacy in the Archive and the Community, Chapter 6.
Paula Gill-Lopez is a contributing author, Know Thyself: Implicit Bias and Mindfulness, Chapter 8.
Stephaney Morrison is a contributing author, A Person-Centered Approach to Facilitate Students’ Social Advocacy, Chapter 11.
Colleges and universities cannot ignore the increasingly diverse student population in their classrooms, and how a focus on equity, diversity, and inclusion across disciplines trains students in the intercultural awareness they will need in competitive job markets. Yet while faculty may be aware of a need to understand EDI goals in relationship to their disciplines, and institutions may support EDI in theory, the onus of pedagogical training in EDI often falls on individual faculty. This book was written by faculty and administrators for educators who value the goals of EDI, and seek an intellectual community to help them develop their practice. Important to this book is an honest discussion of common challenges faculty may face when they engage in this difficult work, and effective strategies for addressing those challenges. The chapters are grouped according to six different themes: respect for divergent learning styles; inclusion and exclusion; technology and social action; affective considerations; reflection for critical consciousness; and safe spaces and resistance.https://digitalcommons.fairfield.edu/education-books/1065/thumbnail.jp
Collaboration as a driver of EDI: How Collaborative Activities Drive the Development and Implementation of Employee-Driven Innovation Initiatives
No full textA growing perspective on innovation suggests that significant innovation can stem from employees' daily activities. Traditional innovation practices often delegate decision-making to a select group, typically R&D departments or specialized units. However, this approach overlooks the innovation potential distributed across all employees in an organization. Recent understanding challenges this traditional view, emphasizing that all employees possess the potential for innovation. Recognizing and harnessing this potential can lead to more distributed and effective innovation practices within organizations. This concept is referred to as Employee-Driven Innovation.In the context of Employee-Driven Innovation (EDI), collaboration is crucial for successful development and implementation. Effective collaboration, reliant on structures promoting knowledge exchange, skill development, and resource sharing, amplifies an organization's performance by capitalizing on individual strengths and expertise. However, the specific impact of collaboration on EDI practices is not well-understood, creating a gap in the literature and an opportunity to explore how collaboration influences EDI. Understanding these dynamics can inform and shape effective EDI practices. Therefore, it's essential to investigate the influence of collaborative activity on EDI, guiding the formation of effective strategies and driving successful EDI practices.This research narrows its focus to the development and implementation phase of Employee-Driven Innovation (EDI), as the literature suggests this phase is most influenced by collaborative activities and the organizational context allows deeper research into this specific phase. The central question being explored in this research is: how do collaborative activities drive the development and implementation of EDI initiatives?To address this, a case study is conducted within a single organization, Stedin, a grid operator in the Netherlands. The study encompasses several EDI initiatives and involves questioning both the initiators of the initiatives and collaborators during the development and implementation phase. A semi-structured interview format is used to gather insights.This research reveals key insights into the contrasting collaborative activities of the "fuzzy front end" and the "back end" of the development and implementation process of EDI initiatives. The fuzzy front end, characterized by exploration, thrives on dynamic, distant, and informal collaboration. These characteristics facilitate swift interactions, overcome organizational resistance, and prevent collective decision-making structures, thus promoting speed and flexibility.Conversely, the back end, typically more specialized and complex, benefits from stable, intimate, and homogeneous collaboration. This phase involves a time-consuming and complex role transfer, transitioning the EDI to an innovation that can be adopted organization-wide. Stable, homogeneous and intimate collaboration ensures effective implementation and a smooth transition of ownership...Management of Technology (MoT
The Role of Organic Matter in Improving Soil Physical Quality and Crop Production
No full textThe presence of organic matter in soils is very important to maintain and improve a better soil physical quality so that the soils are able to support plant growth and yields. Organic matter plays an important role in the process of aggregate formation from primary soil particles. This paper aims to review the role of organic matter in improving soil physical quality and crop yields. The results of some studies indicate that addition of organic matter such as farmyard manure, composted sugarcane bagasse residue, and mulch from crop residues in different types of soils may decrease soil bulk density, increase aggregate stability, total porosity, soil water content, and crop yields. Farmyard manure and composted sugarcane bagasse residue have a greater effect on improvement of soil physical quality and crops production compared to mulch from crop residues. The decrease in soil organic matter contents may cause the decrease in soil physical quality so that the soil capability to support plant growth and yield is also decreasing
Bankowe systemy informatyczne klasy EDI/EC
No full textArtykuł zawiera omówienie głównych cech wpływających na
jakość informatycznego systemu bankowego. Zdaniem autora,
przyszłość systemów bankowych leży w migracji w kierunku zastosowań
rozwiązań klasy EDI/EC.This article analyses the main features influencing the quality
of the computer bank system. According to the Author, implementation
of the EDI/EC solutions is the future of bank systems.Zadanie pt. „Digitalizacja i udostępnienie w Cyfrowym Repozytorium Uniwersytetu Łódzkiego kolekcji czasopism naukowych wydawanych przez Uniwersytet Łódzki” nr 885/P-DUN/2014 zostało dofinansowane ze środków MNiSW w ramach działalności upowszechniającej nauk
A Role of the EDI System for Properly Realized Tasks in the Area of Reverse Logistics
No full textIn the paper author points that proper reverse logistics functioning requires creation or usage of suitable EDI system consisting all necessary elements. The author widely presents the structure and functioning of EDI system in reverse logistics basis on the EDI transaction set - ANSI ASC X12 version 003050.W materiale autor zwraca uwagę, że dla właściwego funkcjonowania
logistyki odwrotnej niezbędne jest stworzenie lub wykorzystanie
odpowiedniego systemu EDI, który będzie uwzględniał
wszystkie potrzebne elementy. Strukturę i funkcjonowanie systemu
EDI w logistyce odwrotnej autor szeroko prezentuje na przykładzie
zestawu transakcyjnego ANSI ASC X12 v.003050.Zadanie pt. „Digitalizacja i udostępnienie w Cyfrowym Repozytorium Uniwersytetu Łódzkiego kolekcji czasopism naukowych wydawanych przez Uniwersytet Łódzki” nr 885/P-DUN/2014 zostało dofinansowane ze środków MNiSW w ramach działalności upowszechniającej nauk
USAGE OF ELECTRONIC DATA EXCHANGE (EDI) IN SIEMENS AG
No full textThe master thesis deals with the current state of Electronic Data Interchange (EDI) and its use in the logistics chain of Siemens AG, for which the author of the thesis was working through its subsidiary Siemens, s.r.o..The first chapter introduces the German company Siemens AG and its development to the present. The space is also dedicated to her daughter Siemens, s.r.o., operating in the Czech Republic. The following section deals with EDI. It describes the development, basic principles and technical issues of EDI. An important part of each technology is the pros and cons that it brings, including the security of the entire process. Legislation is an integral part of the issue. The following section is already focused on Siemens AG. Here is an explanation of the current situation, types of EDI messages, key identifiers that Siemens AG also uses programs drawing on EDI information transfer. In the analytical part, the onboarding process to EDI and its threats is explained on two carriers.EDI acts as a tool for facilitating logistics in international trade and, along with cooperation with the multinational Siemens AG, is also a focus on the student's core studies, which is international trade.The work was consulted with experts from Siemens, s.r.o. and later will be used internally by Siemens AG.Práce se zabývá problematikou současného stavu elektronické výměny dat a jejich využití v logistickém řetězci společnosti Siemens AG, pro kterou autor práce v době zpracování diplomové práce pracoval prostřednictvím její dceřiné společnosti Siemens, s.r.o.. Úvodní kapitola představuje německou společnost Siemens AG a její vývoj až po současnost. Prostor je také věnován její dceřiné společnosti Siemens, s.r.o., působící v České republice. Následuje část zabývající se problematikou EDI. V té je popsán vývoj, základní principy i technické záležitosti EDI. Důležitou částí každé technologie jsou i klady a zápory, které s sebou přináší, a to včetně zabezpečení celého procesu. Nedílnou součástí EDI je legislativa, která je důležitým aspektem celé problematiky. Další část je zaměřená již přímo na společnost Siemens AG. Zde je vysvětlena současná situace, typy EDI zpráv, klíčové identifikátory, které Siemens AG využívá i programy čerpající z EDI přenosu informace. V analytické části je pak na dvou dopravcích vysvětlen připojovací proces k EDI a jeho nástrahy. EDI funguje jako nástroj pro usnadnění logistiky v mezinárodním obchodě a společně ve spolupracI s nadnárodní společností Siemens AG je téma zaměřené i na hlavní obor studenta, tedy mezinárodní obchod. Práce byla konzultována s experty ze společnosti Siemens, s.r.o. a později bude použita pro interní účely firmy Siemens AG
USAGE OF ELECTRONIC DATA EXCHANGE (EDI) IN SIEMENS AG
No full textThe master thesis deals with the current state of Electronic Data Interchange (EDI) and its use in the logistics chain of Siemens AG, for which the author of the thesis was working through its subsidiary Siemens, s.r.o..The first chapter introduces the German company Siemens AG and its development to the present. The space is also dedicated to her daughter Siemens, s.r.o., operating in the Czech Republic. The following section deals with EDI. It describes the development, basic principles and technical issues of EDI. An important part of each technology is the pros and cons that it brings, including the security of the entire process. Legislation is an integral part of the issue. The following section is already focused on Siemens AG. Here is an explanation of the current situation, types of EDI messages, key identifiers that Siemens AG also uses programs drawing on EDI information transfer. In the analytical part, the onboarding process to EDI and its threats is explained on two carriers.EDI acts as a tool for facilitating logistics in international trade and, along with cooperation with the multinational Siemens AG, is also a focus on the student's core studies, which is international trade.The work was consulted with experts from Siemens, s.r.o. and later will be used internally by Siemens AG.Práce se zabývá problematikou současného stavu elektronické výměny dat a jejich využití v logistickém řetězci společnosti Siemens AG, pro kterou autor práce v době zpracování diplomové práce pracoval prostřednictvím její dceřiné společnosti Siemens, s.r.o.. Úvodní kapitola představuje německou společnost Siemens AG a její vývoj až po současnost. Prostor je také věnován její dceřiné společnosti Siemens, s.r.o., působící v České republice. Následuje část zabývající se problematikou EDI. V té je popsán vývoj, základní principy i technické záležitosti EDI. Důležitou částí každé technologie jsou i klady a zápory, které s sebou přináší, a to včetně zabezpečení celého procesu. Nedílnou součástí EDI je legislativa, která je důležitým aspektem celé problematiky. Další část je zaměřená již přímo na společnost Siemens AG. Zde je vysvětlena současná situace, typy EDI zpráv, klíčové identifikátory, které Siemens AG využívá i programy čerpající z EDI přenosu informace. V analytické části je pak na dvou dopravcích vysvětlen připojovací proces k EDI a jeho nástrahy. EDI funguje jako nástroj pro usnadnění logistiky v mezinárodním obchodě a společně ve spolupracI s nadnárodní společností Siemens AG je téma zaměřené i na hlavní obor studenta, tedy mezinárodní obchod. Práce byla konzultována s experty ze společnosti Siemens, s.r.o. a později bude použita pro interní účely firmy Siemens AG
Characteristics of Spodosols, Limitation and Usage Potential
No full textSpodosols characterized by the presence of spodic and albic horizons, are problem soils due to low productivity, coarse texture and low nutrient status. This soil was generally covered by alang-alang or shrub and bush. The soils were generally distributed in cold climate or wet tropical areas with high rainfall. The objectives of this paper were to discuss the characteristics ofSpodosols in Kalimantan and Sumatra and the possibility of their utilization. In Indonesia, this soil is found in Kalimantan, Sulawesi, Sumatra, and Papua Islands. Parent materials of the soils were originated from quartz sand, sediment or acid sedimentary rocks (quartz sandstone) with low nutrients status. Physiographically, the soils were distributed in alluvial plain, colluvial, sand beach, sand dune, tectonic plain and sandstone plateau on elevation of 5 to >1,500 m asl, with flat to nearly undulating relieves. The soil physical properties were characterized by coarse texture and the presence of root limiting layer such as fragipan, duripan, or placic horizon (organo-metal complex) with various depth. The soil chemical properties were characterized by acid soil reaction, very low exchangeable bases, P and K nutrient, and mineral reserve. Cation exchange capacity of the soils depends on their soil organic matter content. Based on the soil characteristics, most Spodosols were not suitable for agricultural land development. Therefore the Spodosols usages should be directed not only for production increases but also for environmental healthiness and soilcare. The Spodosols land that have been opened needs to be optimally used in order to increase soil quality through appropriate soil and plant management. The new land cleared for agriculture and production forest needs carefully actions with localizing the Spodosols distribution in order to maintain the natural vegetations as conservation forest or recreation areas
Properties, Genesis and Classification of Soils on Volcanic Materials in Lembang Area, West Java, Indonesia
No full textSoils developed on volcanic materials have high potential for agricultural
production. However, the productivity of some of them is below their potential
capacity. Proper management of these soils must be based on understanding their
nature and properties. Lembang is one of the most intensively cultivated areas for
horticultural crops, tea and pine trees in West Java, Indonesia. Unfortunately, data on
the characteristics of soils developed on different volcanic materials of different ages
in this area are still limited. Thus, six representative soil profiles developed on
andesitic volcanic ash and tuff were studied. The objectives of this study were to
determine the soil physical, chemical, mineralogical and micromorphological
properties, to relate the soil properties to soil-forming processes and to classify the
soils according to Soil Taxonomy and World Reference Base.
The results of this study show that all the soils have very deep solum (>1 50
em). Some soil profiles developed on volcanic ash have buried organic-rich horizons as a result of repeated thin ash deposition. In general, the volcanic ash soils are
darker coloured, more granular, more friable, less sticky and less plastic than the
volcanic tuff soils. The ash soils generally have silt loam to clay loam textures, while
the tuff soils have clay texture. The ash soils have lower bulk density (0.38 to 0.79
Mglm\ higher total porosity (55 to 84%) and higher available water content ( 1 3.0 to
34.6%) than the tuff soils.
The pH H20 of the soils ranges from 3.52 to 5 .88. Some soil profiles in both
parent materials show high exchangeable Al (2.2 to 5.9 cmolc/kg). The ash soils have
higher pHNaF (> 9.4), higher organic carbon (up to 1 0%), and higher phosphate
retention (> 85%) than the tuff soils. The high values of pHNaF and phosphate
retention in the volcanic ash soils are related to the presence of large amounts of
amorphous AI. The CEC is generally higher in the ash soils (22 to 46 cmolc/kg) than
in the tuff soils ( 1 8 to 3 1 cmolclkg). The base saturation is generally low « 1 5%) in
the upper horizons of all the soils.
The sand fractions of the ash soils are dominated by hornblende, while the
tuff soils are predominantly composed of opaque minerals or magnetite .. In the silt
fractions, all the soils in both parent materials show traces to minor amounts of
cristobalite, tridymite and quartz. Gibbsite is only observed in the loamy tuff profile,
while hydrated halloysite is only present in the lower horizons of another tuff profile.
In the clay fractions, the ash soils are dominated by allophane with varying amounts
of cristobalite, whereas the tuff soils show a high content of gibbsite and
metahalloysite
- …
