An Investigation of Particle Image Velocimetry Techniques Applied to the Analysis of Wheel-Soil Interaction on Mars Terrain Simulant

Mobolaji O. Akinpelu MIT Summer Research Program Intern, Summer 2011

Department of Mathematics and Computer Science Coppin State University Baltimore, MD 21216

Direct Supervisor: Carmine Senatore, Ph.D. Faculty Advisor: Karl Iagnemma, Ph.D.
Department of Mechanical Engineering, Robotic Mobility Group Massachusetts Institute of Technology Canbridge, MA 02139 August 6, 2011
Abstract In 2009, the wheel of the Mars Rover got stuck because there was not enough traction. The aim of this project is to create or modify software that will track Martian soil particle and show how the motion of the wheel aects the soil. The overall goal of the tasks described in this report is to investigate available PIV software for the above purpose and understand how to modify the parameters of the software, based on cross-correlation algorithm, to give the most accurate information on the motion of the soil.

Introduction

After landing in January 2004 to probe the past geology and climate of Mars, in May 2009, the Mars Rover Spirit got stuck in soft Martian sand [1]. Attempts to get it out only drove it deeper [2]. In early 2011, the Mars Rover went through a particularly harsh Mars winter that sent it into hibernation while exposing the scientic and engineering equipments on board to damage. NASA scientists held out hope that after the passing of the winter, Spirit will get enough energy from the sun to recharge and resume communication with scientists and engineers on earth. But 1

it did not. In May 2011, NASA abandoned eorts to resume communication with the Spirit Rover. Consequently, studying the interaction between the wheel of the Mars Rover and Martian soil has become an interesting and important problem, whose answer will help avoid future occurrences like the above. This project simulates the motion of a wheel of the Mars Rover on a Mars soil simulant. The simulation is used to understand the forces the wheel exerts on the soil and the movement and shearing pattern of the soil particles. The information from these experiments is vital for understanding the mechanical properties of Mars soil and the interaction between the soil and

the wheel. The result of the study of these properties and interactions can be important for the design of future Mars rover wheels and motion mechanisms.

Problem Statement

To track the motion of the particles of the soil, we plan to use publicly available Particle Image Velocimetry (PIV) software. However, a sampling of PIV software shows that they are made for particular applications like the study of uid ow in biological and geological applications. Therefore, we had to conduct an analysis of the instrumentation requirements (camera frame rate and pixel resolution), software parameters (interrogation window size, degree of overlap of interrogation windows) and physical conditions (lighting conditions and test rig container) and how to choose these variables so our PIV analysis gives accurate and useful data about the ow pat- Figure 1: An artists rendering of the Mars Rover Spirit. terns in the soil. This analysis is important because it represents a preliminary study that will inform our choice of instruments, software parameters and physical conditions for our experiments. There have been attempts to conduct a more general analysis of the eects of choice of parameters on the accuracy of PIV results [4]. However, our approach diers from that of researchers like [4] because it is an investigation carried out for a specic application instead of an analysis of the structure and results of the cross-correlation algorithm that is the main feature in contemporary literature.

Methods

In this section, we explain how PIV analysis works generally, how cross-correlation works, and how we created a statistical test based on our understanding of our PIV and cross-correlation work.

3.1

Particle Image Velocimetry

Figure 2: The test-bed for our experiments.

Particle Image Velocimetry (PIV) is a technique used in experimental uid mechanics to determine instantaneous velocity vector elds by measuring the displacements of numerous ne particles that accurately 2

follow the motion of the uid [3]. This velocity is measured by recording images of the particles at more than one precise time and deducing the displacement of the particles from the displacement of the image [3]. The steps in a PIV analysis are typically as follows: 1. A uid is seeded with marker particles that refract, absorb or scatter light, have a high contrast with the rest of the uid and do not interrupt the uid ow. 2. Then the particles in the uid ow are illuminated by pulsed sheets of light at exact time intervals and images of the illuminated particles are taken. 3. Next, the resulting images are processed with software that is based on algorithms like the cross-correlation algorithm. The analysis of the recorded images to measure the particles displacement is an important part of any uid ow motion experiment. In particular, researchers have to make a choice on the technique, algorithm and software that gives them the most informed and accurate understanding of the dynamics of the uid ow. For example, apart from PIV, there are other techniques for analyzing motion in a uid like Laser Speckle Velocimetry (Fomin 1998), Scalar Image Velocimtry (Dahm et al 1992), and Image Correlation Velocimetry (Tokumaru and Dimotakis 1995) [3]. Compared with other velocity measurement techniques such as Laser Doppler Anemometry and Hot-Wire Anemometry, PIV oers many advantages for the study of uid mechanics like revealing the global structure of complicated and/or unsteady ow eld quantitatively (Adrian, 1991) so it has been studied intensely and developed rapidly in the past two decades [4]. In our case, we started out applying Particle Tracking Velocimetry (PTV), a technique quite similar to PIV, to our uid ow. One dierence between PIV and PTV is that the algorithm that drives PTV attempts to track individual particles displacements to determine velocities, whereas in PIV, regions of ow are tracked. This feature of PTV implies that there has to be a low particle 3
Figure 3: Why we chose PIV over PTV.

Figure 4: An outline of the PIV Steps.

density in the regions of the ow that are being compared to determine the displacement to ensure that the software can recognize and track the individual particle elements from image frame to image frame [2]. This theoretical knowledge, our understanding of the physical properties of the Martian soil and a preliminary test of images of the soil with PTV software conrmed to us that PIV was a better choice than PTV.

3.2

Cross-Correlation

Cross-correlation is an example of an algorithm for processing images in a PIV analysis. PIV images are processed by sub-dividing two consecutive images of the ow into a regular grid of sub-areas that overlap and nding the velocity vector for each sub-area by an

Figure 6: Example of the formation of the correlation plane by direct cross-correlation: here a 4 4 pixel template is correlated with a larger 8 8 pixel sample to produce a 5 5 correlation plane. Figure 5: The Martian soil we are experimenting on.

algorithm like cross-correlation. After obtaining the images for a PIV analysis as explained above, a small sub-area of the rst image, usually called an interrogation area or interrogation window, is compared with a sub-area at the same location in the second image using cross-correlation. This processing produces a table of correlation values over a range of displacements, and the overall displacement of particles in the window is represented by a peak in this correlation table. [5]. In other words, the process results in the most probable displacement vector for that particular particle pattern. (Adrian 1991; Willert and Gharib 1991; Stamhuis and Videler 1995) [6]. The process is repeated for all interrogation areas of the pair of images to get a complete vector diagram of the ow. Errors in an analysis using cross-correlation occur mainly from insucient data like a lack of imaged ow tracers or poor image quality, and/or from correlation abnormalities from unmatched tracer images in the correlated sample volume [5]. The crosscorrelation algorithm is based on the cross-correlation function:
K L

RII (x, y ) =
i=K j =L

I (i, j )I (i + x, j + y )

The variables I and I are the intensity values of the images where I is larger than the template I . 4

Essentially the template I is linearly shifted around in the sample I without extending over edges of I . For each choice of sample shift (x, y ), the sum of the products of all overlapping pixel intensities produces one cross-correlation value RII (x, y ). By applying this operation for a range of shifts (M x +M, N y +N ), a correlation plane the size of (2M + 1) (2N + 1) is formed. For shift values at which the samples particle images align with each other, the sum of the products of pixel intensities will be larger than elsewhere, resulting in a high crosscorrelation value RII at this position. Essentially the cross-correlation function statistically measures the degree of match between the two samples for a given shift. The highest value in the correlation plane can then be used as a direct estimate of the particle image displacement [7]. One can imagine this procedure as moving I over I until the best matching is found. The expression best matching is used because in practice there is never a 100% matching due to particles that have left or entered the imaged area in the second image compared with the rst [6]. Few systematical researches have been performed to evaluate the eectiveness and accuracy of nal PIV results obtained using cross correlation. Therefore, users of the cross correlation method have to spend a lot of time and cost to optimize various parameters for PIV image acquiring and processing to get an accurate velocity eld [4]. This absence of literature on the eectiveness and accuracy of PIV is inspiration for this research project: to analyze,

Figure 7: The cross-correlation function as computed from real data by correlating a smaller template I (32 32 pixel) with a larger sample I (64 64 pixel). The mean shift of the particle images is approximately 12 pixels to the right.

Figure 9: The image after being rotated 36 degrees.

Figure 8: Diagrams of steps in PIV analysis of successively recorded PIV patterns in a ow: two sub-images from the same location of two frames are compared in a crosscorrelation procedure resulting in a 2-D probability density distribution which shows a peak.

in an application-specic manner, the accuracy of MATLAB-based PIV software we considered for our PIV analysis of motion in Martian soil.

3.3

Rotated Images

To test the accuracy of the PIV software we considered using, we simulated circular motion in our acquired PIV images used the PIV software in detecting this motion. First, an image of the soil in the test bed was taken (see above) through the glass using a pointand-shoot camera. The image was taken through the glass to ensure that the image on which the analysis was conducted correctly simulated the conditions under which eventual experiment will be conducted. Also, the acquired images was converted to grayscale because PIV software works best with grayscale images since grayscale images ensure that there is a higher contrast between the particles 5

the software searches for and the rest of the uid. Then, MATLAB scripts were used to rotate this image about its center, for one revolution, in increments of 6 degrees. At the end of this process, there was a stack of 60 images tilted 6 degrees from the previous image. The MATLAB code that produced the series of images is in the Appendix. The MATLAB option crop was chosen over the MATLAB option loose for the code because this ensures that the images that are produced by imrotate are all equal in size. Although the crop option crops the images after they are rotated, a square region inscribed in a circular region inscribed in the original image can be used for the analysis because it is never cropped out of the image. The square region is outlined in white in the image below. Mathematically, the motion simulated by the process of rotating the images is circular motion with a constant angular velocity. All the vectors shown in the diagram above have known theoretical velocity values based on the MATLAB code shown in the Appendix. The analysis was conducted by inputting the series of images, 1 to 60, in pairs of 1-2, 2-3, 3-4 and so on, into three publicly available MATLAB-based PIV software (matpiv, pivlab, uere ) and setting up the parameters so that the software were measuring the velocity at the same points as the theoretically derived ones. After this, the resulting vectors from each software were plotted on the same image as the theoretical vector to get a visual perception of the accuracy of the software results. It is important to note now that each vector eld like that below is the product of applying PIV to a pair of images. The vectors in green are the theoretical vectors and those

Figure 10: Sample image showing vectors used for analysis.

Figure 11: Sample result from analysis.

in red are the experimental ones from one of the software. The analysis carried out was percentage error for each pair of vectors that lie in the white square in the eld below, sum of percentage errors in the white square of each eld of vectors (each eld is the result of an analysis of a pair of images by a PIV software), and the sum of all the sums derived for each vector eld created by each software.

4
4.1

Results
MATPIV

option that species how many iterations (one in this case) of cross-correlation should be carried out on the pair of images. The result consists of four matrices x, y , u and v which are measured in pixels and pixels/second. We denote by x the matrix of the x-coordinates where the vectors are drawn (in the center of each sub-area). We denote by y the matrix of the y -coordinates where the vectors are drawn (in the center of each sub-area). The symbols u and v are used to denote the x-components and y -components of the vectors calculated in each sub-area. These results can be visualized with the MATLAB command quiver(x,y,u,v). For this statistical analysis, the matpiv command used was:

Matpiv is a toolbox for PIV created by Kristian Sveen [x ,y ,u , v ] = matpiv ( image1 , image2 of the University of Cambridge [matpiv manual]. A ,32 ,1 ,0.0 , single ) ; sample of a matpiv command for carrying out a PIV Based on this analysis, the following results were analysis is this: recovered: The command above processes images where the sub-area coordinates refer to the submpim1b.bmp and mpim1c.bmp using a 64 64 areas that are in the white square discussed above. kernel with 0% overlap between each processed sub-area. The number 0.0012 refers to the time After repeating the above process for the 59 vector separation between the images and single is an 6

Sample experimental values of x-component of velocity Sub-Area Coordinates.

Sub-Area Coordinates 2 3 4 5 6 7 2 -8.21163 -5.31049 -1.83637 1.616693 4.924812 8.199604 3 -8.66173 -4.8456 -1.62804 1.591556 5.141235 8.517288 4 -8.73043 -4.50717 -1.75153 1.464555 5.017183 8.517034 5 -8.482263681 -4.6753092 -1.801007877 1.453186828 5.251215307 8.721054276 6 -8.1661 -5.28905 -1.63236 1.926127 5.112303 8.377348 7 -8.34833 -5.06494 -1.81915 1.849509 5.366289 8.159283

Sample experimental values of y -component of velocity.

Sub-Area Coordinates 2 3 4 5 6 7 2 8.398358 8.274315 8.544504 8.34281 8.463819 8.17882 3 5.077235 4.790196 4.796586 5.144725 5.087714 5.131278 4 1.732083 1.318847 1.832139 1.584458 1.48174 1.746328 5 -1.65306 -1.61582 -1.85545 -1.84387 -1.68683 -1.74055 6 -4.94357 -5.2165 -5.15183 -4.99039 -5.21205 -5.24424 7 -8.27928 -8.28049 -8.43121 -8.25076 -8.29548 -8.43496

Theoretical values of x-component of velocity.

Sub-Area Coordinates 2 3 4 5 6 7 2 -8.37758 -5.02655 -1.67552 1.675516 5.026548 8.37758 3 -8.37758 -5.02655 -1.67552 1.675516 5.026548 8.37758 4 -8.37758 -5.02655 -1.67552 1.675516 5.026548 8.37758 5 -8.37758 -5.02655 -1.67552 1.675516 5.026548 8.37758 6 -8.37758 -5.02655 -1.67552 1.675516 5.026548 8.37758 7 -8.37758 -5.02655 -1.67552 1.675516 5.026548 8.37758

Figure 12: MATLAB surf plot of percentage errors for a typical matpiv vector eld. Sample experimental values of x-component of velocity.
Sub-Area Coordinates 2 3 4 5 6 7 2 0.00000 4.82961 8.261181 0.00000 0.00000 0.00000 3 0.00000 0.00000 0.00000 7.477854 13.0447 0.00000 4 0.00000 15.37748 0.00000 -4.97153 0.00000 11.07954 5 0.00000 -4.77448 15.1449 0.00000 12.68634 -2.25074 6 15.24937 0.00000 -6.87253 1.779358 0.00000 0.00000 7 -7.97261 -1.61923 0.00000 0.00000 -14.6783 0.00000

Theoretical values of y -component of velocity.

Sub-Area Coordinates 2 3 4 5 6 7 2 8.37758 8.37758 8.37758 8.37758 8.37758 8.37758 3 5.026548 5.026548 5.026548 5.026548 5.026548 5.026548 4 1.675516 1.675516 1.675516 1.675516 1.675516 1.675516 5 -1.67552 -1.67552 -1.67552 -1.67552 -1.67552 -1.67552 6 -5.02655 -5.02655 -5.02655 -5.02655 -5.02655 -5.02655 7 -8.37758 -8.37758 -8.37758 -8.37758 -8.37758 -8.37758

Percentage errors of x-component of velocities in eld identied above.

Sub-Area Coordinates 2 3 4 5 6 7 2 -0.0002 0.000565 0.00096 -0.00035 -0.0002 -0.00021 3 0.000339 -0.00036 -0.00028 -0.0005 0.000228 0.000167 4 0.000421 -0.00103 0.000454 -0.00126 -1.9E-05 0.000166 5 0.000125 -0.0007 0.000749 -0.00133 0.000447 0.00041 6 -0.00025 0.000522 -0.00026 0.001496 0.000171 -2.8E-07 7 -3.5E-05 7.64E-05 0.000857 0.001038 0.000676 -0.00026

elds produced by matpiv, the total percentage error for the x-components of velocities produced by matpiv was found to be 0.2277 and the total percentage error for the y -components of velocities produced by matpiv was found to be 0.2328. This statistical analysis was also carried out for the magnitudes of the velocities and the angle (direction) of the velocities.

4.2

PIVLAB

Percentage errors of y -component of velocities in eld identied above.

Sub-Area Coordinates 2 3 4 5 6 7 2 2.48E-05 -0.00012 0.000199 -4.2E-05 0.000103 -0.00024 3 0.000101 -0.00047 -0.00046 0.000235 0.000122 0.000208 4 0.000338 -0.00213 0.000935 -0.00054 -0.00116 0.000423 5 -0.00013 -0.00036 0.001074 0.001005 6.75E-05 0.000388 6 -0.00017 0.000378 0.000249 -7.2E-05 0.000369 0.000433 7 -0.00012 -0.00012 6.4E-05 -0.00015 -9.8E-05 6.85E-05

Pivlab is another MATLAB-based PIV software that we proposed using. It comes with a GUI and was created by William Thielicke and Eize J. Stamhuis. It has options in its interface to carry out a similar kind of analysis as matpiv and output results in a .mat le. The contents of the produced .mat le (x,y,u,v) was used to carry out the analysis in MATLAB in a similar way as above. The theoretical values are the same as identied 7

Sample experimental values of y -component of velocity.

Sub-Area Coordinates 2 3 4 5 6 7 2 0.00000 -8.0102 -3.9983 0.00000 0.00000 0.00000 3 0.00000 0.00000 0.00000 13.93374 -14.5519 0.00000 4 0.00000 -3.5761 0.00000 12.95876 0.00000 7.230583 5 0.00000 -1.76888 15.30452 0.00000 -3.66656 7.163633 6 -11.5772 0.00000 14.97414 -4.20108 0.00000 0.00000 7 -9.75443 9.295033 0.00000 0.00000 -5.13846 0.00000

Percentage errors of x-component of velocities in eld identied above.

Sub-Area Coordinates 2 3 4 5 6 7 2 -0.01 -0.01961 -0.05931 -0.01 -0.01 -0.01 3 -0.01 -0.01 -0.01 0.03463 0.015952 -0.01 4 -0.01 -0.04059 -0.01 -0.03967 -0.01 0.003225 5 -0.01 -0.0005 -0.10039 -0.01 0.015239 -0.01269 6 -0.0282 -0.01 0.031017 0.00062 -0.01 -0.01 7 -0.00048 -0.00678 -0.01 -0.01 -0.0392 -0.01

under MATPIV. Also, the zero values above are the result of converting the NaN returned by pivlab Figure 13: MATLAB surf plot of percentage errors for to zero for the sake of the error calculations. a typical pivlab vector eld. After repeating the above process for the 59 vector elds produced by pivlab, the total percentage error Sample experimental values of x-component of velocity. for the x-components of velocities produced by pivlab Sub-Area Coordinates 2 3 4 5 6 7 2 -2.99462 -3.9254 -4.66279 -5.17047 -5.1741 -5.2004 was found to be 19.6012 and the total percentage er3 -0.45405 -2.12058 -3.94811 -4.39776 -4.74465 -4.84281 4 0.63601 -0.22359 -1.52012 -1.81063 -1.72643 -2.93354 ror for the y -components of velocities produced by 5 1.74266 1.49695 0.996216 1.07895 1.43909 0.005752 pivlab was found to be 19.3999. This statistical anal6 1.72815 1.68268 1.7567 2.22117 3.17362 2.4933 7 2.03651 1.78522 2.2365 2.82498 3.41779 3.7096 ysis was also carried out for the magnitudes of the velocities and the angle (direction) of the velocities. Sample experimental values of y -component of velocity.

4.3

Fluere

Fluere is the third MATLAB-based PIV software that we proposed using. It comes with a GUI and was created by Kyle Lynch. It has options in its interface to carry out a similar kind of analysis as matpiv and Percentage errors of x-component of velocities in eld pivlab and output results in series of .dat les. The identied above. contents of the produced .dat les (x, y, u, v ) was used Sub-Area Coordinates 2 3 4 5 6 7 2 -0.00643 -0.00531 -0.00443 -0.00383 -0.00382 -0.00379 to carry out the analysis in MATLAB in a similar way 3 -0.0091 -0.00578 -0.00215 -0.00125 -0.00056 -0.00037 4 -0.0138 -0.00867 -0.00093 0.000806 0.000304 0.007508 as above. 5 0.000401 -0.00107 -0.00405 -0.00356 -0.00141 -0.00997 After repeating the above process for the 59 vector 6 -0.00656 -0.00665 -0.00651 -0.00558 -0.00369 -0.00504
7 -0.00757 -0.00787 -0.00733 -0.00663 -0.00592 -0.00557

Sub-Area Coordinates 2 3 4 5 6 7

2 2.49051 2.3307 2.44311 2.28715 1.96353 1.47992

3 1.94802 2.23345 2.26915 2.12282 1.56194 0.97209

4 0.99023 1.31027 1.51004 1.39524 0.768392 0.106774

5 0.264218 -1.34655 -1.79391 -1.74566 -1.44975 -1.24525

6 -2.60795 -4.48242 -4.78846 -4.57704 -4.29572 -3.84474

7 -4.70671 -4.5719 -4.12071 -4.3442 -4.63903 -4.66745

Percentage errors of y -component of velocities in eld identied above Sub-Area Coordinates.

Sub-Area Coordinates 2 3 4 5 6 7 2 -0.01 -0.01956 -0.01477 -0.01 -0.01 -0.01 3 -0.01 -0.01 -0.01 0.01772 -0.03895 -0.01 4 -0.01 -0.03134 -0.01 0.067342 -0.01 0.033154 5 -0.01 0.000557 -0.10134 -0.01 0.011883 -0.05275 6 0.013032 -0.01 -0.03979 -0.00164 -0.01 -0.01 7 0.001643 -0.0211 -0.01 -0.01 -0.00387 -0.01

Percentage errors of y -component of velocities in eld identied above.

Sub-Area Coordinate 2 3 4 5 6 7 2 -0.00703 -0.00722 -0.00708 -0.00727 -0.00766 -0.00823 3 -0.00612 -0.00556 -0.00549 -0.00578 -0.00689 -0.00807 4 -0.00409 -0.00218 -0.00099 -0.00167 -0.00541 -0.00936 5 -0.01158 -0.00196 0.000707 0.000419 -0.00135 -0.00257 6 -0.00481 -0.00108 -0.00047 -0.00089 -0.00145 -0.00235 7 -0.00438 -0.00454 -0.00508 -0.00481 -0.00446 -0.00443

Appendix
ages

6.1 MATLAB code used to rotate imE = 1; for k = 1:6:360 figure (1) ; A = imrotate ( imread ( img1 ) ,k , crop ) ; imwrite (A ,[ rot - num2str ( E ) . tif ]) ; E = E +1; end end
Figure 14: MATLAB surf plot of percentage errors for a typical uere vector eld.

MATLAB code for theoretical value of circular velocity dx = 32; tx = [32: dx : xmax ]; tx = tx - xmax /2; Nx = length ( tx ) ; % y - dimension ymax = 256; dy = 32; ty = [32: dy : ymax ]; ty = ty - ymax /2; Ny = length ( ty ) ; % angular velocity w = 6; % deg / sec w = w * pi /180; % rad / sec % Create velocity field matrices vx = zeros ( Ny , Nx ) ; vy = zeros ( Ny , Nx ) ; % V = 1; for i = 1: Nx for k = 1: Ny r = sqrt ( tx ( i ) .^2+ ty ( k ) .^2) ; % radius V = w*r; vx (k , i ) = -V * ty ( k ) / r ; vy (k , i ) = V * tx ( i ) / r ; end end [ xx , yy ] = meshgrid ( tx + xmax /2 , ty + ymax /2) ; 9

elds produced by uere, the total percentage error for the x-components of velocities produced by uere was found to be 10.8576 and the total percentage error for the y -components of velocities produced by uere was found to be 10.7915. This analysis was also carried out for the magnitudes of the velocities and the angle (direction) of the velocities.

Discussion

Based on these results, we chose matpiv for our analysis of the motion. Recently, we have also begun to take a look at how the quality of our input images (image pre-processing) and the ltering tools available for each software (vector post-processing) may aect these accuracy estimates. Also, there are default or basic settings that are not common to all of the three software. We took this into consideration in making decisions based on these results. One limitation of this project is that we cannot tell how important other choices like kernel size will aect the accuracy results. Also we do not know if the fact that it is a simple circular motion aects the accuracy of the error values.

quiver ( xx (1:1: end ) , yy (1:1: end ) , vx (1:1: end ) , vy (1:1: end ) ) ;

References
[1] Keane, Richard D., and Ronald J. Adrian. Theory of Cross-Correlation Analysis of PIV Images. Applied Scientic Research (1992): 1-25. Print. [2] Muthanna, Chittiapaa. Particle Image Velocimetry. (2006): 1-63. Web. July 2011. [3] Adrian, R. J., and J. Westerweel. Particle Image Velocimetry. New York: Cambridge UP, 2011. 136. Print. [4] Hu H., T. Kobayashi, K. Okamoto, and N. Taniguchi. Evaluation of the Cross Correlation Method by Using PIV Standard Images. The Visualization Society of Japan and Ohmsha: Journal of Visualization 1st ser. 1 (1998): 1-8. Print. [5] Hart, Douglas P. The Elimination of Correlation Errors in PIV Processing. 9th International Symposium on Applications of Laser Techniques to Fluid Mechanics (1998): 1-8. Print. [6] Stamhuis, Eize J. Basics and Principles of Particle Image Velocimetry (PIV) for Mapping Biogenic and Biologically Relevant Flows. Aquatic Ecology (2006): 1-17. Print. [7] Rael, Markus, Christian Willert, Jurgen Kompenhans, and Steve Wereley. Image Evaluation Methods for PIV. Particle Image Velocimetry: a Practical Guide. Heidelberg: Springer, 2007. 12376. Print.

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