Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis

One of the most serious obstacles to accurate quantification of the underwater motion of a swimmer's body is image deformation caused by refraction. Refraction occurs at the water-air interface plane (glass) owing to the density difference. Camera calibration-reconstruction algorithms commonly used in aquatic research do not have the capability to correct this refraction-induced nonlinear image deformation and produce large reconstruction errors. The aim of this paper is to provide a thorough review of: the nature of the refraction-induced image deformation and its behaviour in underwater object-space plane reconstruction; the intrinsic shortcomings of the Direct Linear Transformation (DLT) method in underwater motion analysis; experimental conditions that interact with refraction; and alternative algorithms and strategies that can be used to improve the calibration-reconstruction accuracy. Although it is impossible to remove the refraction error completely in conventional camera calibration-reconstruction methods, it is possible to improve the accuracy to some extent by manipulating experimental conditions or calibration frame characteristics. Alternative algorithms, such as the localized DLT and the double-plane method are also available for error reduction. The ultimate solution for the refraction problem is to develop underwater camera calibration and reconstruction algorithms that have the capability to correct refraction.     

Special populations: the female player and the youth player

Females and youth are frequently described as "special" populations in football literature, but together these two populations outnumber male players. What makes females "special" is that they tend to eat less when training and competing than their male counterparts, leading to lower intakes of energy, carbohydrate, and some nutrients. Youth football players are special in regard to energy and nutrient requirements to promote growth and development, as well as to fuel sport. There is limited research on the dietary habits of these two populations, but the available literature suggests that many female and youth players need to increase carbohydrate intake, increase fluid intake, and develop dietary habits to sustain the demands of training and competition.     

A control problem with structural choices

The case is considered in which, during the operation of an optimal control system, the optimizer, in addition to applying his usual control, may switch structures. Necessary and sufficient conditions are derived and emphasis is placed on the special characteristics of this problem. Continuous and discrete time set-ups are considered and the separation principle is shown not to hold for the linear quadratic case in the presence of noise.     

The mathematical education of engineers

Mathematics has always played an important role in the education of engineers and production managers. At the present time, the importance of mathematics has increased significantly and it is quite natural that in universities around the world engineering students are taking courses in mathematics which constitute, as a rule, a significant portion of their programme. At the same time, however, the mathematical education of the engineer is far from ideal and its improvement deserves the closest scrutiny. The present article deals with several general aspects of this problem.