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.     

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.     

Stability analysis of nonlinear control systems with characteristics equations having complex coefficients

In this paper, the stability equation method is applied to the analysis of nonlinear systems with characteristics equations having complex coefficients. Three types of systems are studied: those with unstable open-loop poles, unstable characteristics roots or an equal number of open-loop poles and zeros.     

PPBS in higher education planning and management: Part II,the university of California experience

Part I provided an overview of PPBS, some discussion of PPBS implementation in the U.S. government, and a review of the arguments for adopting PPBS in postsecondary education and the various kinds of work that have been done toward this end. In part II, we discuss the experience of the University of California with PPBS from 1966 to 1971. Part III, to be published subsequently, will suggest some new departures in model construction and policy analysis which we believe represent a useful spirit in which further development can and should occur, and will also contain some general concluding observations.

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Résumé Dans la première partie, publiée antérieurement, on trouvait les principes généraux du PPBS (Program Planning Budgeting Systems) une discussion rapide de la mise en oeuvre du PPBS par les autorités gouvernementals aux Etats-Unis, quelques uns des arguments qui militent en faveur de l'adoption du PPBS dans l'enseignement post-secondaire ainsi que ce qui a été entrepris à cette fin. Dans la deuxième partie, nous soumettons à la discussion ce qu'a été l'expérience de l'Université de Californie en matière de PPBS de 1966 à 1971. La troisième partie, qui sera publiée ensuite, proposera quelques points de départ nouveaux pour la construction du modèle directeur et l'analyse des politiques; nous pensons qui'il s'agit là d'un point de vue utilisable qui peut et devrait donner lieu à de nouveaux développements; cette troisième partie présentera aussi quelques observations générales en forme de conclusion.