title: Ameliorating Systematic Errors in Full-Field AMCW Lidar

authors: Godbaz, John Peter

subjects: Time of Flight

abstract: This thesis presents an analysis of systematic error in full-field amplitude modulated continuous wave range-imaging systems. The primary focus is on the mixed pixel/multipath interference problem, with digressions into defocus restoration, irregular phase sampling and the systematic phase perturbations introduced by random noise. As an integral part of the thesis, a detailed model of signal formation is developed, that models noise statistics not included in previously reported models.

Prior work on the mixed pixel/multipath interference problem has been limited to detection and removal of perturbed measurements or partial amelioration using spatial information, such as knowledge of the spatially variant scattering point spread function, or raytracing using an assumption of Lambertian reflection. Furthermore, prior art has only used AMCW range measurements at a single modulation frequency. In contrast, in this thesis, by taking multiple measurements at different modulation frequencies with known ratio-of-integers frequency relationships, a range of new closed-form and lookup table based inversion and bounding methods are explored. These methods include: sparse spike train deconvolution based multiple return separation, a closed-form inverse using attenuation ratios and a normalisation based lookup table method that uses a new property we term the characteristic measurement. Other approaches include a Cauchy distribution based model for backscattering sources which are range-diffuse, like fog or hair. Novel bounding methods are developed using the characteristic measurement and attenuation ratios on relative intensity, relative phase and phase perturbutation.

A detailed noise and performance analysis is performed of the characteristic measurement lookup table method and the bounding methods using simulated data. Experiments are performed using the University of Waikato Heterodyne range-imager, the Canesta XZ-422 and the Mesa Imaging Swissranger 4000 in order to demonstrate the performance of the lookup table method. The lookup table method is found to provide an order of magnitude improvement in ranging accuracy, albeit at the expense of ranging precision.

text: Ameliorating Systematic Errors in Full-Field AMCW Lidar This thesis presents an analysis of systematic error in full-field amplitude modulated continuous wave range-imaging systems. The primary focus is on the mixed pixel/multipath interference problem, with digressions into defocus restoration, irregular phase sampling and the systematic phase perturbations introduced by random noise. As an integral part of the thesis, a detailed model of signal formation is developed, that models noise statistics not included in previously reported models.

Prior work on the mixed pixel/multipath interference problem has been limited to detection and removal of perturbed measurements or partial amelioration using spatial information, such as knowledge of the spatially variant scattering point spread function, or raytracing using an assumption of Lambertian reflection. Furthermore, prior art has only used AMCW range measurements at a single modulation frequency. In contrast, in this thesis, by taking multiple measurements at different modulation frequencies with known ratio-of-integers frequency relationships, a range of new closed-form and lookup table based inversion and bounding methods are explored. These methods include: sparse spike train deconvolution based multiple return separation, a closed-form inverse using attenuation ratios and a normalisation based lookup table method that uses a new property we term the characteristic measurement. Other approaches include a Cauchy distribution based model for backscattering sources which are range-diffuse, like fog or hair. Novel bounding methods are developed using the characteristic measurement and attenuation ratios on relative intensity, relative phase and phase perturbutation.

A detailed noise and performance analysis is performed of the characteristic measurement lookup table method and the bounding methods using simulated data. Experiments are performed using the University of Waikato Heterodyne range-imager, the Canesta XZ-422 and the Mesa Imaging Swissranger 4000 in order to demonstrate the performance of the lookup table method. The lookup table method is found to provide an order of magnitude improvement in ranging accuracy, albeit at the expense of ranging precision.

year: 2012

title: Integration of solar thermal for improved energy efficiency in low-temperature-pinch industrial processes

authors: Atkins, Martin John

subjects: solar thermal

abstract: Solar thermal systems have the potential to provide renewable industrial process heat and are especially suited for low pinch temperature processes such as those in the food, beverage, and textile sectors. When correctly integrated within an industrial process, they can provide significant progress towards both increased energy efficiency and reduction in emissions. However, the integration of renewable solar energy into industrial processes presents a challenge for existing process integration techniques due to the non-continuous nature of the supply. A thorough pinch analysis study of the industrial process, taking in to account non-continuous operating rates, should be performed to evaluate the utility demand profile. Solar collector efficiency data under variable climatic conditions should also be collected for the specific site. A systematic method of combining this information leads to improved design and an optimal operating strategy. This approach has been applied to a New Zealand milk powder plant and benefits of several integration strategies, including mass integration, are investigated. The appropriate placement of the solar heat is analogous to the placement of a hot utility source and an energy penalty will be incurred when the solar thermal system provides heat below the pinch temperature.

text: Integration of solar thermal for improved energy efficiency in low-temperature-pinch industrial processes Solar thermal systems have the potential to provide renewable industrial process heat and are especially suited for low pinch temperature processes such as those in the food, beverage, and textile sectors. When correctly integrated within an industrial process, they can provide significant progress towards both increased energy efficiency and reduction in emissions. However, the integration of renewable solar energy into industrial processes presents a challenge for existing process integration techniques due to the non-continuous nature of the supply. A thorough pinch analysis study of the industrial process, taking in to account non-continuous operating rates, should be performed to evaluate the utility demand profile. Solar collector efficiency data under variable climatic conditions should also be collected for the specific site. A systematic method of combining this information leads to improved design and an optimal operating strategy. This approach has been applied to a New Zealand milk powder plant and benefits of several integration strategies, including mass integration, are investigated. The appropriate placement of the solar heat is analogous to the placement of a hot utility source and an energy penalty will be incurred when the solar thermal system provides heat below the pinch temperature.

year: 2010

title: Te Whiuwhiu o te Hau Maori Counselling Certificate Programme: Agency placements and supervision. Summary of and evaluation

authors: Moeke-Pickering, Taima Materangatira

subjects: counselling

abstract: Three major characteristics in determining a potentially successful practicum were identified. Firstly, the importance of determining early on whether an agency can expose the student to the necessary counselling experience that enables students to meet the requirements of the course. Secondly, the importance of exposing students to information that enable them to efficiently achieve practicum placement goals. Thirdly, the need to utilise both reflective and skills based assessment to assess the development of counselling skills, as well as the completion of tasks and duties that are required of students. Further information was gleaned about the research participants' perspectives on supervision procedures, practicum contracts, benefits of having a practicum placement and suggested training areas for the proposed TWH supervision module.

text: Te Whiuwhiu o te Hau Maori Counselling Certificate Programme: Agency placements and supervision. Summary of and evaluation Three major characteristics in determining a potentially successful practicum were identified. Firstly, the importance of determining early on whether an agency can expose the student to the necessary counselling experience that enables students to meet the requirements of the course. Secondly, the importance of exposing students to information that enable them to efficiently achieve practicum placement goals. Thirdly, the need to utilise both reflective and skills based assessment to assess the development of counselling skills, as well as the completion of tasks and duties that are required of students. Further information was gleaned about the research participants' perspectives on supervision procedures, practicum contracts, benefits of having a practicum placement and suggested training areas for the proposed TWH supervision module.

year: 1995-01-01