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 De-Shuang Huang
Prashan Premaratne (Eds.)
LNAI 12465

Intelligent Computing
Methodologies
16th International Conference, ICIC 2020
Bari, Italy, October 2–5, 2020
Proceedings, Part III

123
Lecture Notes in Artificial Intelligence 12465

Subseries of Lecture Notes in Computer Science

Series Editors
Randy Goebel
University of Alberta, Edmonton, Canada
Yuzuru Tanaka
Hokkaido University, Sapporo, Japan
Wolfgang Wahlster
DFKI and Saarland University, Saarbrücken, Germany

Founding Editor
Jörg Siekmann
DFKI and Saarland University, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/1244
De-Shuang Huang Prashan Premaratne (Eds.)
•

Intelligent Computing
Methodologies
16th International Conference, ICIC 2020
Bari, Italy, October 2–5, 2020
Proceedings, Part III

123
Editors
De-Shuang Huang Prashan Premaratne
Machine Learning and Systems Biology School of Electrical, Computer
Tongji University and Telecommunications Engineering
Shanghai, China University of Wollongong
North Wollongong, NSW, Australia

ISSN 0302-9743 ISSN 1611-3349 (electronic)

Lecture Notes in Artificial Intelligence
ISBN 978-3-030-60795-1 ISBN 978-3-030-60796-8 (eBook)
https://doi.org/10.1007/978-3-030-60796-8
LNCS Sublibrary: SL7 – Artificial Intelligence

© Springer Nature Switzerland AG 2020

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 Preface

The International Conference on Intelligent Computing (ICIC) was started to provide

an annual forum dedicated to the emerging and challenging topics in artificial intelli-
gence, machine learning, pattern recognition, bioinformatics, and computational biol-
ogy. It aims to bring together researchers and practitioners from both academia and
industry to share ideas, problems, and solutions related to the multifaceted aspects of
intelligent computing.
ICIC 2020, held in Bari, Italy, during October 2–5, 2020, constituted the 16th
edition of this conference series. It built upon the success of ICIC 2019 (Nanchang,
China), ICIC 2018 (Wuhan, China), ICIC 2017 (Liverpool, UK), ICIC 2016 (Lanzhou,
China), ICIC 2015 (Fuzhou, China), ICIC 2014 (Taiyuan, China), ICIC 2013
(Nanning, China), ICIC 2012 (Huangshan, China), ICIC 2011 (Zhengzhou, China),
ICIC 2010 (Changsha, China), ICIC 2009 (Ulsan, South Korea), ICIC 2008 (Shanghai,
China), ICIC 2007 (Qingdao, China), ICIC 2006 (Kunming, China), and ICIC 2005
(Hefei, China).
This year, the conference concentrated mainly on the theories and methodologies as
well as the emerging applications of intelligent computing. Its aim was to unify the
picture of contemporary intelligent computing techniques as an integral concept that
highlights the trends in advanced computational intelligence and bridges theoretical
research with applications. Therefore, the theme for this conference was “Advanced
Intelligent Computing Technology and Applications.” Papers that focused on this
theme were solicited, addressing theories, methodologies, and applications in science
and technology.
ICIC 2020 received 457 submissions from 21 countries and regions. All papers went
through a rigorous peer-review procedure and each paper received at least three review
reports. Based on the review reports, the Program Committee finally selected 162
high-quality papers for presentation at ICIC 2020, included in three volumes of pro-
ceedings published by Springer: two volumes of Lecture Notes in Computer Science
(LNCS), and one volume of Lecture Notes in Artificial Intelligence (LNAI).
This volume of LNAI includes 54 papers.
The organizers of ICIC 2020, including Tongji University, China, and Polytechnic
University of Bari, Italy, made an enormous effort to ensure the success of the con-
ference. We hereby would like to thank the members of the Program Committee and
the referees for their collective effort in reviewing and soliciting the papers. We would
like to thank Alfred Hofmann, executive editor from Springer, for his frank and helpful
advice and guidance throughout as well as his continuous support in publishing the
proceedings. In particular, we would like to thank all the authors for contributing their
papers. Without the high-quality submissions from the authors, the success of the
vi Preface

conference would not have been possible. Finally, we are especially grateful to the
International Neural Network Society and the National Science Foundation of China
for their sponsorship.

August 2020 De-Shuang Huang

Prashan Premaratne
 Organization

General Co-chairs

De-Shuang Huang, China

Vitoantonio Bevilacqua, Italy

Program Committee Co-chairs

Eugenio Di Sciascio, Italy

Kanghyun Jo, South Korea

Organizing Committee Co-chairs

Ling Wang, China

Phalguni Gupta, India
Vincenzo Piuri, Italy
Antonio Frisoli, Italy
Eugenio Guglielmelli, Italy
Silvestro Micera, Italy
Loreto Gesualdo, Italy

Organizing Committee Members

Andrea Guerriero, Italy

Nicholas Caporusso, USA
Francesco Fontanella, Italy
Vincenzo Randazzo, Italy
Giacomo Donato Cascarano, Italy
Irio De Feudis, Italy
Cristian Camardella, Italy
Nicola Altini, Italy

Award Committee Co-chairs

Kyungsook Han, South Korea

Jair Cervantes Canales, Mexico
Leonarda Carnimeo, Italy
viii Organization

Tutorial Co-chairs

M. Michael Gromiha, India

Giovanni Dimauro, Italy

Publication Co-chairs

Valeriya Gribova, Russia

Antonino Staiano, Italy

Special Session Co-chairs

Abir Hussain, UK
Antonio Brunetti, Italy

Special Issue Co-chairs

Mario Cesarelli, Italy

Eros Pasero, Italy

International Liaison Co-chairs

Prashan Premaratne, Australia

Marco Gori, Italy

Workshop Co-chairs

Laurent Heutte, France

Domenico Buongiorno, Italy

Publicity Co-chairs

Giansalvo Cirrincione, France

Chun-Hou Zheng, China
Salvatore Vitabile, Italy

Exhibition Contact Co-Chairs

Michal Choras, Poland

Stefano Cagnoni, Italy
 Organization ix

Program Committee Members

Daqi Zhu Guoquan Liu Laurent Heutte

Xinhong Hei Wei Chen Leonarda Carnimeo
Yuan-Nong Ye Valeriya Gribova Bo Li
Abir Hussain Michael Gromiha Junqing Li
Khalid Aamir Maria Siluvay Juan Liu
Kang-Hyun Jo Guoliang Li Yunxia Liu
Andrea Guerriero Huiyu Zhou Zhendong Liu
Angelo Ciaramella Tianyong Hao Jungang Lou
Antonino Staiano Mohd Helmy Abd Wahab Fei Luo
Antonio Brunetti Honghuang Lin Jiawei Luo
Wenzheng Bao Jian Huang Haiying Ma
Binhua Tang Hao Lin Marzio Pennisi
Bin Qian Hongmin Cai Nicholas Caporusso
Bingqiang Liu Xinguo Lu Nicola Altini
Bo Liu Ho-Jin Choi Giansalvo Cirrincione
Bin Liu Hongjie Wu Gaoxiang Ouyang
Chin-Chih Chang Irio De Feudis Pu-Feng Du
Wen-Sheng Chen Dong Wang Shaoliang Peng
Michal Choras Insoo Koo Phalguni Gupta
Xiyuan Chen Daowen Qiu Ping Guo
Chunmei Liu Jiansheng Wu Prashan Premaratne
Cristian Camardella Jianbo Fan Qinghua Jiang
Zhihua Cui Jair Cervantes Qingfeng Chen
Defu Zhang Junfeng Xia Roman Neruda
Dah-Jing Jwo Junhui Gao Rui Wang
Dong-Joong Kang Juan Carlos Stefano Squartini
Domenico Buongiorno Juan Carlos Salvatore Vitabile
Domenico Chiaradia Figueroa-García Wei-Chiang Hong
Ben Niu Gangyi Jiang Jin-Xing Liu
Shaoyi Du Jiangning Song Shen Yin
Eros Pasero Jing-Yan Wang Shiliang Sun
Fengfeng Zhou Yuhua Qian Saiful Islam
Haodi Feng Joaquín Torres-Sospedra Shulin Wang
Fei Guo Ju Liu Xiaodi Li
Francesco Fontanella Jinwen Ma Zhihuan Song
Chuleerat Jaruskulchai Ji Xiang Du Shunren Xia
Fabio Stroppa Junzhong Gu Sungshin Kim
Gai-Ge Wang Ka-Chun Wong Stefano Cagnoni
Giacomo Donato Kyungsook Han Stefano Mazzoleni
Cascarano K. R. Seeja Surya Prakash
Giovanni Dimauro Yoshinori Kuno Tar Veli Mumcu
L. J. Gong Weiwei Kong Xu-Qing Tang
x Organization

Vasily Aristarkhov Waqas Bangyal Weijia Jia

Vincenzo Randazzo Bing Wang Wei Jiang
Vito Monaco Wenbin Liu Shanwen Zhang
Vitoantonio Bevilacqua Weidong Chen Takashi Kuremoto

Reviewers

Wan Hussain Wan Ishak Seeja Yanyun Qu

Nureize Arbaiy Pu-Feng Du Shunlin Wang
Shingo Mabu Wei Chen Jin-Xing Liu
Lianming Zhang Jonggeun Kim Shravan Sukumar
Xiao Yu Eun Kyeong Kim Long Gao
Shaohua Li Hansoo Lee Yifei Wu
Yuntao Wei Yiqiao Cai Qi Yan
Jinglong Wu Wuritu Yang Tianhua Jiang
Wei-Chiang Hong Weitao Sun Fangping Wan
Sungshin Kim Shou-Tao Xu Lixiang Hong
Tianhua Guan Min-You Chen Sai Zhang
Shutao Mei Yajuan Zhang Tingzhong Tian
Yuelin Sun Guihua Tao Qi Zhao
Hai-Cheng Yi Jinzhong Zhang Leyi Wei
Zhan-Heng Chen Wenjie Yi Lianrong Pu
Suwen Zhao Miguel Gomez Chong Shen
Medha Pandey Lingyun Huang Junwei Wang
Mike Dyall-Smith Chao Chen Zhe Yan
Xin Hong Jiangping He Rui Song
Ziyi Chen Jin Ma Xin Shao
Xiwei Tang Xiao Yang Xinhua Tang
Khanh Le Sotanto Sotanto Claudia Guldimann
Shulin Wang Liang Xu Saad Abdullah Khan
Di Zhang Chaomin Iuo Bangyal
Sijia Zhang Rohitash Chandra Giansalvo Cirrincione
Na Cheng Hui Ma Bing Wang
Menglu Li Lei Deng Xiao Xiancui
Zhenhao Guo Di Liu X. Zheng
Limin Jiang María I. Giménez Vincenzo Randazzo
Kun Zhan Ansgar Poetsch Huijuan Zhu
Cheng-Hsiung Chiang Dimitry Y. Sorokin DongYuan Li
Yuqi Wang Jill F. Banfield Jingbo Xia
Anna Esposito Can Alkan Boya Ji
Salvatore Vitabile Ji-Xiang Du Manilo Monaco
Bahattin Karakaya Xiao-Feng Wang Xiao-Hua Yu
Tejaswini Mallavarapu Zhong-Qiu Zhao Pierre Leblond
Sheng Yang Bo Li Zu-Guo Yu
Heutte Laurent Zhong rui Zhang Jun Yuan
 Organization xi

Shenggen Zheng Yuxiang Tian Tuozhong Yao

Xiong Chunhe Zhenjia Wang Xuzhao Chai
Punam Kumari Shuqin Zhang Zhenhu Liang
Li Shang Angelo Riccio Yu Lu
Sandy Sgorlon Francesco Camastra Hua Tang
Bo Wei Zhao Xiong Yuanpeng Liang Cheng
X. J. Chen Jing Xu Jiang Hui
Fang Yu Zou Zeyu Puneet Rawat
Takashi Kurmeoto Y. H. Tsai Kulandaisamy Akila
Huakuang Li Chien-Yuan Lai Niu Xiaohui
Pallavi Pandey Guo-Feng Fan Zhang Guoliang
Yan Zhou Shaoming Pan Egidio Falotico
Mascot Wang De-Xuan Zou Peng Chen
Chenhui Qiu Zheng Chen Cheng Wang
Haizhou Wu Renzhi Cao He Chen
Lulu Zuo Ronggen Yang Giacomo Donato
Jiangning Song Azis Azis Cascarano
Rafal Kozik Shelli Shelli Vitoantonio Bevilacqua
Wenyan Gu Zhongming Zhao Shaohua Wan
Shiyin Tan Yongna Yuan Jaya Sudha J. S.
Yaping Fang Kamal Al Nasr Sameena Naaz
Xiuxiu Ren Chuanxing Liu Cheng Chen
Antonino Staiano Panpan Song Jie Li
Aniello Castiglione Joao Sousa Ruxin Zhao
Qiong Wu Min Li Jiazhou Chen
Atif Mehmood Wenying He Abeer Alsadhan
Wang Guangzhong Kaikai Xu Guoliang Xu
Zheng Tian Ming Chen Fangli Yang
Junyi Chen Laura Dominguez Jalili Congxu Zhu
Meineng Wang Vivek Kanhangad Deng Li
Xiaorui Su Zhang Ziqi Piyush Joshi
Jianping Yu Davide Nardone Syed Sadaf Ali
Jair Cervantes Liangxu Liu Qin Wei
Lizhi Liu Huijian Han Kuan Li
Junwei Luo Qingjun Zhu Teng Wan
Yuanyuan Wang Hongluan Zhao Hao Liu
Jiayin Zhou Chyuan-Huei Thomas Yexian Zhang
Mingyi Wang Yang Xu Qiao
Xiaolei Zhu R. S. Lin Ce Li
Jiafan Zhu N. Nezu Lingchong Zhong
Yongle Li Chin-Chih Chang Wenyan Wang
Hao Lin Hung-Chi Su Xiaoyu Ji
Xiaoyin Xu Antonio Brunetti Weifeng Guo
Shiwei Sun Xie conghua Yuchen Jiang
Hongxuan Hua Caitong Yue Yuanyuan Huang
Shiping Zhang Li Yan Zaixing Sun
xii Organization

Honglin Zhang Balachandran Manavalan José Sergio Ruiz Castilla

Yu Jie He Bingqiang Liu Juan de Jesus Amador
Benjamin Soibam Lianrong Pu Nanxun Wang
Sungroh Yoon Di Wang Rencai Zhou
Mohamed Chaabane Fangping Wan Moli Huang
Rong Hu Guosheng Han Yong Zhang
Youjie Yao Renmeng Liu Daniele Loiacono
NaiKang Yu Yinan Guo Grzegorz Dudek
Carlo Bianca Lujie Fang Joaquín Torres-Sospedra
Giulia Russo Ying Zhang Xingjian Chen
Dian Liu Yinghao Cao Saifur Rahaman
Cheng Liang Xhize Wu Olutomilayo Petinrin
Iyyakutti Iyappan Le Zou Xiaoming Liu
Ganapathi G. Brian Golding Xin Xu
Mingon Kang Viktoriya Coneva Zi-Qi Zhu
Zhang Chuanchao Alexandre Rossi Paschoal Punam Kumari
Hao Dai Ambuj Srivastava Pallavy Pandey
Geethan Prabakaran R. Najme Zehra
Brendan Halloran Xingquan Zuo Zhenqing Ye
Yue Li Jiabin Huang Hao Zhang
Qianqian Shi Jingwen Yang Zijing Wang
Zhiqiang Tian Liu Qianying Lida Zhu
Yang Yang Markus J. Ankenbrand Lvzhou Li
Jalilah Arijah Mohd Jianghong Meng Junfeng Xia
Kamarudin Tongchi Zhou Jianguo Liu
Jun Wang Zhi-Ping Liu Jia-Xiang Wang
Ke Yan Xinyan Liang Gongxin Peng
Hang Wei Xiaopeng Jin Junbo Liang
David A. Hendrix Jun Zhang Linjing Liu
Ka-Chun Wong Yumeng Liu Xian Geng
Yuyan Han Junliang Shang Sheng Ding
Hisato Fukuda L. M. Xiao Jun Li
Yaning Yang Shang-han Li Laksono Kurnianggoro
Lixiang Xu Jianhua Zhang Minxia Cheng
Yuanke Zhou Han-Jing Jiang Meiyi Li
Shihui Ying Daniele Nardi Qizhi Zhu
Wenqiang Fan Kunikazu Peng Chao Li
Zhao Li Shenglin Mu Ming Xiao
Zhe Zhang Jing Liang Guangdi Liu
Xiaoying Guo Jialing Li Jing Meng
Yiqi Jiang Yu-Wen-Tian Sun Kang Xu
Zhuoqun Xia Zhe Sun Cong Feng
Jing Sun Wentao Fan Arturo Yee
Na Geng Wei Lan Yi Xiong
Chen Li Jiancheng Zhong Fei Luo
Xin Ding Josue Espejel Cabrera Xionghui Zhou
 Organization xiii

Kazunori Onoguchi Chunfeng Shi Donghyeon Lee

Hotaka Takizawa Shuo Jiang Mohamed Hasan
Suhang Gu Xiaoke Hao ChangHwan Kim
Zhang Yu Lei Wang Vivek Thangavelu
Bin Qin Minghua Zhao Alvaro Costa-Garcia
Yang Gu Cheng Shi David Parent
Zhibin Jiang Jiulong Zhang Oskar Ljungqvist
Chuanyan Wu Shui-Hua Wang Long Cheng
Wahyono Wahyono Xuefeng Cui Huajuan Huang
Van-Dung Hoang Sandesh Gupta Vasily Aristarkhov
My-Ha Le Nadia Siddiqui Zhonghao Liu
Kaushik Deb Syeda Shira Moin Lichuan Pan
Danilo Caceres Sajjad Ahmed Yongquan Zhou
Alexander Filonenko Ruidong Li Zhongying Zhao
Van-Thanh Hoang Mauro Castelli Kunikazu Kobayashi
Ning Guo Leonardo Bocchi Masato Nagayoshi
Deng Chao Leonardo Vanneschi Atsushi Yamashita
Soniya Balram Ivanoe De Falco Wei Peng
Jian Liu Antonio Della Cioppa Haodi Feng
Angelo Ciaramella Kamlesh Tiwari Jin Zhao
Yijie Ding Puneet Gupta Shunheng Zhou
Ramakrishnan Zuliang Wang Xinguo Lu
Nagarajan Raju Luca Tiseni Xiangwen Wang
Kumar Yugandhar Francesco Porcini Zhe Liu
Anoosha Paruchuri Ruizhi Fan Pi-Jing Wei
Dhanusa Grigorios Skaltsas Bin Liu
Jino Blessy Mario Selvaggio Haozhen Situ
Agata Gie Xiang Yu Meng Zhou
Lei Che Abdurrahman Eray Baran Muhammad Ikram Ullah
Yujia Xi Alessandra Rossi Hui Tang
Ma Haiying Jacky Liang Sakthivel Ramasamy
Huanqiang Zeng Robin Strudel Akio Nakamura
Hong-Bo Zhang Stefan Stevsic Antony Lam
Yewang Chen Ariyan M. Kabir Weilin Deng
Farheen Sidiqqui Lin Shao Haiyan Qiao
Sama Ukyo Parker Owan Xu Zhou
Parul Agarwal Rafael Papallas Shuyuan Wang
Akash Tayal Alina Kloss Rabia Shakir
Ru Yang Muhammad Suhail Shixiong Zhang
Junning Gao Saleem Xuanfan Fei
Jianqing Zhu Neel Doshi Fatih Ad
Joel Ayala Masaki Murooka Aysel Ersoy Yilmaz
Haizhou Liu Huitan Mao Haotian Xu
Nobutaka Shimada Christos K. Verginis Zekang Bian
Yuan Xu Joon Hyub Lee Shuguang Ge
Ping Yang Gennaro Notomista Dhiya Al-Jumeily
xiv Organization

Thar Baker Yudong Zhang Alex Akinbi

Haoqian Huang Zafaryab Haider Fuyi Li
Siguo Wang Mahreen Saleem Fan Xu
Huan Liu Quang Do Guangsheng Wu
Jianqing Chen Vladimir Shakhov Yuchong Gong
Chunhui Wang Daniele Leonardis Weitai Yang
Xiaoshu Zhu Simona Crea Mohammed Aledhari
Wen Zhang Byungkyu Park Yanan Wang
Yongchun Zuo Pau Rodr&acute Bo Chen
Dariusz Pazderski Alper Gün Binbin Pan
Elif Hocaoglu Mehmet Fatih Demirel Chunhou Zheng
Hyunsoo Kim Elena Battini Abir Hussain
Park Singu Radzi Ambar Chen Yan
Saeed Ahmed Mohamad Farhan Dhanjay Singh
Youngdoo Lee Mohamad Mohsin Bowen Song
Nathan D. Kent Nur Azzah Abu Bakar Guojing
Areesha Anjum Noraziah ChePa Weiping Liu
Sanjay Sharma Sasalak Tongkaw Yeguo Liao
Shaojin Geng Kumar Jana Laura Jalili
Andrea Mannini Hafizul Fahri Hanafi Quan Zou
Van-Dung Hoang Liu Jinxing Xing Chen
He Yongqiang Alex Moopenn Xiujuan Lei
Kyungsook Han Liang Liang Marek Pawlicki
Long Chen Ling-Yun Dai Haiying Ma
Jialin Lyu Raffaele Montella Hao Zhu
Zhenyang Li Maratea Antonio Wang Zhanjun
Tian Rui Xiongtao Zhang Mohamed Alloghani
Khan Alcan Sobia Pervaiz Iqbal Yu Hu
Alperen Acemoglu Fang Yang Haya Alaskar
Duygun Erol Barkana Si Liu Baohua Wang
Juan Manuel Jacinto Natsa Kleanthous Hanfu Wang
Villegas Zhen Shen Hongle Xie
Zhenishbek Zhakypov Jing Jiang Guangming Wang
Domenico Chiaradia Shamrie Sainin Yongmei Liu
Huiyu Zhou Suraya Alias Fuchun Liu
Yichuan Wang Mohd Hanafi Ahmad Farid Garcia-Lamont
Sang-Goo Jeong Hijazi Yang Li
Nicolò Navarin Mohd Razali Tomari Hengyue Shi
Eray A. Baran Chunyan Fan Gao Kun
Jiakai Ding Jie Zhao Wen Zheng Ma
Dehua Zhang Yuchen Zhang Casimiro Jin Sun
Giuseppe Pirlo Dong-Jun Yu Xing Ruiwen
Alberto Morea Jianwei Yang Zhong Lianxin
Giuseppe Mastronardi Wenrui Zhao Zhang Hongyuan
Insoo Koo Di Wu Han Xupeng
Dah-Jing Jwo Chao Wang Mon Hian Chew
 Organization xv

Jianxun Mi Qinhu Zhang Fabio Bellavia

Michele Scarpiniti Jiang Liu Giosue’ Lo Bosco
Hugo Morais Yuzhen Han Giuseppe Salvi
Alamgir Hossain Pengcheng Xiao Giovanni Acampora
Felipe Saraiva Harry Haoxiang Wang Zhen Chen
Xuyang Xuyang Fengqiang Li Enrico De Santis
Yasushi Mae Chenggang Lai Xing Lining
Haoran Mo Dong Li Wu Guohua
Pengfei Cui Shuai Liu Dong Nanjiang
Yoshinori Kobayashi Cuiling Huang Jhony Heriberto Giraldo
Qing Yu Cui Lian-Yong Qi Zuluaga
Kongtao Chen Qi Zhu Waqas Haider Bangyal
Feng Feng Wenqiang Gu Cong Feng
Wenli Yan Haitao Du Autilia Vitiello
Zhibo Wang Bingbo Cui TingTing Dan
Ying Qiao Qinghua Li Haiyan Wang
Qiyue Lu Xin Juan Angelo Casolaro
Geethan Mendiz Emanuele Principi Dandan Lu
Dong Li Xiaohan Sun Bin Zhang
Liu Di Inas Kadhim Raul Montoliu
Feilin Zhang Jing Feng Sergio Trilles
Haibin Li Xin Juan Xu Yang
Heqi Wang Hongguo Zhao Fan Jiao
Wei Wang Masoomeh Mirrashid Li Kaiwen
Tony Hao Jialiang Li Wenhua Li
Yingxia Pan Yaping Hu Ming Mengjun
Chenglong Wei Xiangzhen Kong Ma Wubin
My Ha Le Mi-Xiao Hou Cuco Cristanno
Yu Chen Zhen Cui Chao Wu
Eren Aydemir Juan Wang Ghada Abdelmoumin
Naida Fetic Na Yu Han-Zhou Wu
Bing Sun Meiyu Duan Antonio Junior Spoleto
Zhenzhong Chu Pavel Osinenko Zhenghao Shi
Meijing Li Chengdong Li Ya Wang
Wentao Chen Stefano Rovetta Tao Li
Mingpeng Zheng Mingjun Zhong Shuyi Zhang
Zhihao Tang Baoping Yuan Xiaoqing Li
Li keng Liang Akhilesh Mohan Yajun Zou
Alberto Mazzoni Srivastatva Chuanlei Zhang
Domenico Buongiorno Vivek Baghel Berardino Prencipe
Zhang Lifeng Umarani Jayaraman Feng Liu
Chi Yuhong Somnath Dey Yongsheng Dong
Meng-Meng Yin Guanghui Li Yatong Zhou
Yannan Bin Lihong Peng Carlo Croce
Wasiq Khan Wei Zhang Rong Fei
Yong Wu Hailin Chen Zhen Wang
xvi Organization

Huai-Ping Jin Yong-Wan Kwon Guohong Qi

Mingzhe She Heng Chen Xiaoyan Hu
Sen Zhang S. T. Veena Li Guo
Yifan Zheng J. Anita Christaline Xia-an Bi
Christophe Guyeux R. Ramesh Xiuquan Du
Jun Sang Shadrokh Samavi Ping Zhu
Huang Wenzhun Amin Khatami Young-Seob Jeong
Jun Wu Min Chen Han-Gyu Kim
Jing Luo He Huang Dongkun Lee
Wei Lu Qing Lei Jonghwan Hyeon
Heungkyu Lee Shuang Ye Chae-Gyun Lim
Yinlong Qian Francesco Fontanella Nicola Altini
Hong wang Kang Jijia Claudio Gallicchio
Daniele Malitesta Rahul Kumar Dingna Duan
Fenqiang Zhao Alessandra Scotto Freca Shiqiang Ma
Xinghuo Ye Nicole Cilia Mingliang Dou
Hongyi Zhang Alessandro Aliberti Jansen Woo
Xuexin Yu Gabriele Ciravegna Shanshan
Guanshuo Xu Jacopo Ferretti ShanShan Hu
Mehdi Yedroudj Jing Yang Hai-tao Li
Xujun Duan Zheheng Jiang Francescomaria Marino
Xing-Ming Zhao Dan Yang Jiayi Ji
Jiayan Han Dongxue Peng Jun Peng
Yan Xiao Wenting Cui Jie Hu
Weizhong Lu Francescomaria Marino Jipeng Wu
Weiguo Shen Wenhao Chi Shirley Meng
Hongzhen Shi Ruobing Liang Prashan Premaratne
Zeng Shangyou Feixiang Zhou Lucia Ballerini
Zhou Yue Jijia Kang Haifeng Hu
TaeMoon Seo Xinshao Wang JianXin Zhang
Sergio Cannata Huawei Huang Xiaoxiao Sun
Weiqi Luo Zhi Zhou Shaomin Mu
Feng Yanyan Yanrui Ding Yongyu Xu
Pan Bing Peng Li Jingyu Hou
Jiwen Dong Yunfeng Zhao Zhixian Liu
 Contents – Part III

Intelligent Computing in Robotics

Automatic Pose Estimation of Micro Unmanned Aerial Vehicle

for Autonomous Landing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Manish Shrestha, Sanjeeb Prasad Panday, Basanta Joshi, Aman Shakya,
and Rom Kant Pandey

A New Robotic Manipulator Calibration Method of Identification

Kinematic and Compliance Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Phu-Nguyen Le and Hee-Jung Kang

Person-Following Shopping Support Robot Using Kinect Depth Camera

Based on 3D Skeleton Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Md Matiqul Islam, Antony Lam, Hisato Fukuda, Yoshinori Kobayashi,
and Yoshinori Kuno

Intelligent Computing in Computer Vision

Real-Time Object Detection Based on Convolutional Block

Attention Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Ming-Yang Ban, Wei-Dong Tian, and Zhong-Qiu Zhao

Image Super-Resolution Network Based on Prior Information Fusion . . . . . . 51

Cheng Ding, Wei-Dong Tian, and Zhong-Qiu Zhao

TFPGAN: Tiny Face Detection with Prior Information and GAN . . . . . . . . . 62

Dian Liu, Zhong-Qiu Zhao, and Wei-Dong Tian

Regenerating Image Caption with High-Level Semantics . . . . . . . . . . . . . . . 74

Wei-Dong Tian, Nan-Xun Wang, Yue-Lin Sun, and Zhong-Qiu Zhao

Aggregated Deep Saliency Prediction by Self-attention Network . . . . . . . . . . 87

Ge Cao, Qing Tang, and Kang-hyun Jo

Identification of Diseases and Pests in Tomato Plants Through Artificial

Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Ernesto García Amaro, Jair Cervantes Canales, Josué Espejel Cabrera,
José Sergio Ruiz Castilla, and Farid García Lamont

Depth Guided Attention for Person Re-identification . . . . . . . . . . . . . . . . . . 110

Md Kamal Uddin, Antony Lam, Hisato Fukuda, Yoshinori Kobayashi,
and Yoshinori Kuno
xviii Contents – Part III

Improved Vision Based Pose Estimation for Industrial Robots

via Sparse Regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Diyar Khalis Bilal, Mustafa Unel, and Lutfi Taner Tunc

LiDAR-Camera-Based Deep Dense Fusion for Robust 3D Object Detection . . . 133

Lihua Wen and Kang-Hyun Jo

PON: Proposal Optimization Network for Temporal Action Proposal

Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Xiaoxiao Peng, Jixiang Du, and Hongbo Zhang

Intelligent Computing in Communication Networks

A Second-Order Adaptive Agent Network Model for Social Dynamics

in a Classroom Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Kasper Nicholas, Eric Zonneveld, and Jan Treur

Intelligent Control and Automation

A Fast Terminal Sliding Mode Control Strategy for Trajectory Tracking

Control of Robotic Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Anh Tuan Vo, Hee-Jun Kang, and Thanh Nguyen Truong

An Active Disturbance Rejection Control Method for Robot Manipulators . . . 190

Thanh Nguyen Truong, Hee-Jun Kang, and Anh Tuan Vo

A Fault Tolerant Control for Robotic Manipulators Using Adaptive

Non-singular Fast Terminal Sliding Mode Control Based on Neural
Third Order Sliding Mode Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Van-Cuong Nguyen and Hee-Jun Kang

Fuzzy PID Controller for Adaptive Current Sharing of Energy Storage

System in DC Microgrid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Duy-Long Nguyen and Hong-Hee Lee

Deep Learning Based Fingerprints Reduction Approach for Visible

Light-Based Indoor Positioning System . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Huy Q. Tran and Cheolkeun Ha

Intelligent Data Analysis and Prediction

Anomaly Detection for Time Series Based on the Neural Networks

Optimized by the Improved PSO Algorithm . . . . . . . . . . . . . . . . . . . . . . . . 237
Wenxiang Guo, Xiyu Liu, and Laisheng Xiang
 Contents – Part III xix

An Integration Framework for Liver Cancer Subtype Classification

and Survival Prediction Based on Multi-omics Data . . . . . . . . . . . . . . . . . . 247
Zhonglie Wang, Rui Yan, Jie Liu, Yudong Liu, Fei Ren, Chunhou Zheng,
and Fa Zhang

Short-Term Rainfall Forecasting with E-LSTM Recurrent Neural Networks

Using Small Datasets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Cristian Rodriguez Rivero, Julián Pucheta, Daniel Patiño, Paula Otaño,
Leonardo Franco, and Gustavo Juarez

A Highly Efficient Biomolecular Network Representation Model

for Predicting Drug-Disease Associations . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Han-Jing Jiang, Zhu-Hong You, Lun Hu, Zhen-Hao Guo, Bo-Ya Ji,
and Leon Wong

DAAT: A New Method to Train Convolutional Neural Network on Atrial

Fibrillation Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Jian Zhang, Juan Liu, Pei-Fang Li, and Jing Feng

Prediction of lncRNA-Disease Associations from Heterogeneous

Information Network Based on DeepWalk Embedding Model. . . . . . . . . . . . 291
Xiao-Yu Song, Tong Liu, Ze-Yang Qiu, Zhu-Hong You, Yue Sun, Li-Ting
Jin, Xiao-Bei Feng, and Lin Zhu

Phishing Attacks and Websites Classification Using Machine Learning

and Multiple Datasets (A Comparative Analysis). . . . . . . . . . . . . . . . . . . . . 301
Sohail Ahmed Khan, Wasiq Khan, and Abir Hussain

A Survey of Vision-Based Road Parameter Estimating Methods . . . . . . . . . . 314

Yan Wu, Feilin Liu, Linting Guan, and Xinneng Yang

Intelligent Fault Diagnosis

The TE Fault Monitoring Based on IPCR of Adjustable Threshold . . . . . . . . 329

Aihua Zhang, Chengcong Lv, and Zhiqiang Zhang

Fuzzy Theory and Algorithms

Notes on Supervisory Control of Fuzzy Discrete Event Systems . . . . . . . . . . 341

Chongqing Lin and Daowen Qiu

Kernel Methods and Supporting Vector Machines

A Multi-class Classification Algorithm Based on Geometric Support

Vector Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Yuping Qin, Xueying Cheng, and Qiangkui Leng
xx Contents – Part III

Machine Learning

A Network Embedding-Based Method for Predicting miRNA-Disease

Associations by Integrating Multiple Information . . . . . . . . . . . . . . . . . . . . 367
Hao-Yuan Li, Zhu-Hong You, Zheng-Wei Li, Ji-Ren Zhou,
and Peng-Wei Hu

BP Neural Network-Based Deep Non-negative Matrix Factorization

for Image Clustering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Qianwen Zeng, Wen-Sheng Chen, and Binbin Pan

Parameters Selection of Twin Support Vector Regression Based on Cloud

Particle Swarm Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Xiuxi Wei, Huajuan Huang, and Weidong Tang

A MapReduce-Based Parallel Random Forest Approach for Predicting

Large-Scale Protein-Protein Interactions . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
Bo-Ya Ji, Zhu-Hong You, Long Yang, Ji-Ren Zhou, and Peng-Wei Hu

Feature Extraction and Random Forest to Identify Sheep Behavior from

Accelerometer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
Natasa Kleanthous, Abir Hussain, Wasiq Khan, Jenny Sneddon,
and Alex Mason

Multi-core Twin Support Vector Machines Based on Binary PSO

Optimization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
Huajuan Huang and Xiuxi Wei

Multi-stage Hierarchical Clustering Method Based on Hypergraph. . . . . . . . . 432

Yue Xi and Yonggang Lu

Knowledge Discovery and Data Mining

Discovery of Cancer Subtypes Based on Stacked Autoencoder . . . . . . . . . . . 447

Bo Zhang, Rui-Fen Cao, Jing Wang, and Chun-Hou Zheng

A Meta Graph-Based Top-k Similarity Measure for Heterogeneous

Information Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Xiangtao Chen, Yonghong Jiang, Yubo Wu, Xiaohui Wei, and Xinguo Lu

Joint Deep Recurrent Network Embedding and Edge Flow Estimation . . . . . . 467
Gaoyuan Liang, Haoran Mo, Zhibo Wang, Chao-Qun Dong,
and Jing-Yan Wang

An Effective Multi-label Classification Algorithm Based on Hypercube . . . . . 476

Yuping Qin, Xueying Cheng, Xiangna Li, and Qiangkui Leng
 Contents – Part III xxi

Using Self Organizing Maps and K Means Clustering Based on RFM

Model for Customer Segmentation in the Online Retail Business . . . . . . . . . 484
Rajan Vohra, Jankisharan Pahareeya, Abir Hussain, Fawaz Ghali,
and Alison Lui

An Adaptive Seed Node Mining Algorithm Based on Graph Clustering

to Maximize the Influence of Social Networks . . . . . . . . . . . . . . . . . . . . . . 498
Tie Hua Zhou, Bo Jiang, Yu Lu, and Ling Wang

Wavelet-Based Emotion Recognition Using Single Channel EEG Device . . . . 510

Tie Hua Zhou, Wen Long Liang, Hang Yu Liu, Wei Jian Pu,
and Ling Wang

Dense Subgraphs Summarization: An Efficient Way to Summarize Large

Scale Graphs by Super Nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Ling Wang, Yu Lu, Bo Jiang, Kai Tai Gao, and Tie Hua Zhou

Uncertainty of Multi-granulation Hesitant Fuzzy Rough Sets Based

on Three-Way Decisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Hong Wang and Huanhuan Cheng

WGMFDDA: A Novel Weighted-Based Graph Regularized Matrix

Factorization for Predicting Drug-Disease Associations . . . . . . . . . . . . . . . . 542
Mei-Neng Wang, Zhu-Hong You, Li-Ping Li, Zhan-Heng Chen,
and Xue-Jun Xie

Natural Language Processing and Computational Linguistics

Word Embedding by Unlinking Head and Tail Entities in Crime

Classification Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
Qinhua Huang and Weimin Ouyang

Recent Advances in Swarm Intelligence: Computing and Applications

A Novel Hybrid Bacterial Foraging Optimization Algorithm Based

on Reinforcement Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
Ben Niu, Churong Zhang, Kaishan Huang, and Baoyu Xiao

Improved Water Cycle Algorithm and K-Means Based Method

for Data Clustering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
Huan Liu, Lijing Tan, Luoxin Jin, and Ben Niu

Information Security

The Research of Music AI in the Context of Information Security. . . . . . . . . 593

Hui Sun
xxii Contents – Part III

Intra-frame Adaptive Transform Size for Video Steganography

in H.265/HEVC Bitstreams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
Hongguo Zhao, Menghua Pang, and Yunxia Liu

Towards a Universal Steganalyser Using Convolutional Neural Networks . . . 611

Inas Jawad Kadhim, Prashan Premaratne, Peter James Vial,
Osamah M. Al-Qershi, and Qasim Al-Shebani

A HEVC Steganography Method Based on QDCT Coefficient . . . . . . . . . . . 624

Si Liu, Yunxia Liu, Cong Feng, Hongguo Zhao, and Yu Huang

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

Intelligent Computing in Robotics
 Automatic Pose Estimation of Micro Unmanned
Aerial Vehicle for Autonomous Landing

Manish Shrestha1, Sanjeeb Prasad Panday2(&), Basanta Joshi2(&),

Aman Shakya2, and Rom Kant Pandey3
1
Nepal College of Information Technology, Pokhara University, Lalitpur, Nepal
2
Pulchowk Campus, Institute of Engineering, Tribhuvan University,
Lalitpur, Nepal
{sanjeeb,basanta,aman.shakya}@ioe.edu.np
3
Sanothimi Campus, Tribhuvan University, Bhaktapur, Nepal

Abstract. The guided navigation has enabled users with minimal amount of
training to navigate and perform flight mission of micro unmanned aerial vehicle
(MAV). In non-urban areas, where there are no other aerial traffic and con-
gestion, MAV take-off & travel does not need much Global Positioning System
(GPS) accuracy. The critical part seems to be during the landing of the MAV,
where slight GPS inaccuracy can lead to landing of the vehicle in the dangerous
spot, causing damage to the MAV. This paper aims to propose a low cost
portable solution for the Autonomous landing of the MAV, using object
detection and machine learning techniques. In this work, You Only Look Once
(YOLO) has been used for object detection and corner detection algorithm along
with projective transformation equation has been used for getting the position of
MAV with respect to the landing spot has been devised. The experiments were
carried with Raspberry Pi and the estimation shows up to 4% of error in height
and 12.5% error in X, Y position.

Keywords: Micro unmanned aerial vehicle
UAV
GPS
Autonomous

landing
Object detection
CNN
YOLO

1 Introduction

Micro Unmanned Aerial Vehicles (MAV) or drones has been using Global Positioning
System (GPS) to execute flight missions easily. Even though there are some fluctua-
tions in GPS readings from time to time even for the same spot, they are commonly
being used in such missions. Instead of GPS, the landing at specified spot can also be
done with the help of other sensors, like camera. Takeoff, hovering, moving forward
and landing are some of the basic phases for autonomous flight of MAV. Among them,
landing visually on a specified target is especially complex because it requires robust
recognition of the landing pad and precise position control; and a slight offset of few
meters can also cause crash landing of the vehicle.
Vision based approach was also used by Yang et al. [1] presented an on- board
vision system that can detect a landing pad consisting of the letter “H” surrounded by a
circle, from images captured by a monocular camera on a MAV and determine the 6

© Springer Nature Switzerland AG 2020

D.-S. Huang and P. Premaratne (Eds.): ICIC 2020, LNAI 12465, pp. 3–15, 2020.
https://doi.org/10.1007/978-3-030-60796-8_1
4 M. Shrestha et al.

DOF pose of the MAV relative to the landing pad using projective geometry. The 5
DOF pose is estimated from the elliptic projection of the circle. The remaining geo-
metric ambiguity is resolved by incorporating the gravity vector estimated by the
inertial measurement unit (IMU). The last degree of freedom pose, yaw angle of the
MAV, is estimated from the ellipse fitted from the letter “H”. A neural network was
used to initially detect the landing pad. The structure of the neural network is a
multilayer perceptrons with 196 input units (one per pixel of patterns resized to
14  14), only one hidden layer consisting of 20 hidden units and three output units.
In another paper, Yang et al. [2] presented a solution for micro aerial vehicles
(MAVs) to autonomously search for and land on an arbitrary landing site using real-
time monocular vision. The autonomous MAV is provided with only one single ref-
erence image of the landing site with an unknown size before initiating this task. The
autonomous navigation of MAV was achieved by implementing a constant-time
monocular visual SLAM framework, while simultaneously detecting an arbitrarily
textured landing site using ORB features, and estimating its global pose.
Daniel et al. [3] employed visual odometry techniques with feature-based methods
to compute the aircraft motion and thereby allowing the position estimation in GPS
denied environments. With regards to GPS inaccuracy, Stark et al. [4] showed that
almost half (49.6%) of all 68,000 GPS points recorded with the Qstarz
Q1000XT GPS units fell within 2.5 m of the expected location, 78.7% fell within 10 m
and the median error was 2.9 m.
Traditional object detection systems are variants of the following pipeline: Firstly,
find potential objects and their bounding boxes, then do feature ex- traction, and finally
classify using a good classifier. Selective Search (SS) [5] enjoyed being the state-of-
the-art for detection on PASCAL VOC etc. competitions. HOG [6] and SIFT [7] are the
popular choices for feature extractions. A classifier is applied on image pyramid to
overcome problems with scale.
The current state-of-the-art object detectors such as Fast R-CNN [8], YOLO [9],
SSD [10] etc. are based on convolutional neural networks (CNN) and have outper-
formed the traditional techniques. The key to the success of CNNs is their ability to
extract/learn generic features. Furthermore, the advancement in computational
resources such as high-performance GPUs and its easy availability through the use of
high-performance cloud computing platforms played an important role in the recent
success of neural networks.
In this work, monocular vision based system has been proposed to localize the
MAV position with respect to the landing spot. Detection of the landing spot has been
carried out with more advanced and recent classifiers known as You Only Look Once
(YOLO) [9]. A simpler projective transform with 3-DOF variables based on rectan-
gular feature points of a simple landing spot has been used. The proposed system also
aims to develop effective system using a simple camera (Raspberry Pi camera) instead
of advanced camera (with global shutter).
 Automatic Pose Estimation of Micro Unmanned Aerial Vehicle 5

2 Methodology

This work is divided into two phases: Learning Phase and Implementation phase.

2.1 Learning Phase

As shown in Fig. 1, the learning phase involves data collection, pre-processing and
training and evaluating two classifiers, namely YOLO v3 and YOLO Tiny v3.

Fig. 1. Learning phase diagram.

A custom landing pad of dimension 142 cm  112 cm with 4 rectangular regions

of color red, blue, white and black of equal size was designed. Images of the landing
spot in various background and orientation is captured from different height, using
simple web camera in a flying MAV, for object detection training. For pose estimation,
images will be captured along with roll, pitch and yaw angle using a handheld MAV.
Data augmentation technique like rotation, etc. is done to increase the samples of our
captured data set for verifying the corner detection phase. For training the object
detection classifier, the images has been classified to contain the landing spot and those
images are also tagged with the bounding box that indicates the location of the landing
spot within the image.
Using the pre-trained available weights and collected datasets, the neural networks
YOLO v3 and YOLO tiny v3 have been trained to detect our custom landing spot.
The YOLO Tiny v3 has been made to detect the landing spot in Raspberry Pi 3
hardware too.

2.2 Implementation Phase

During the real time application phase, the object detection of the landing spots will be
followed by corner detection phase and then the pose estimation phase as shown in
Fig. 2.

2.3 Object Detection

Whenever the MAV arrives near the final landing spot as reported by GPS, the task for
object detection comes into action. The live images from the camera installed in the
MAV are feed into the object detection classifier (YOLO). The classifier, using the
6 M. Shrestha et al.

Fig. 2. Implementation phase diagram of the system

already trained weights, calculates the bounding box position of the landing spot from
the image. The bounding box position constitutes a rough approximate of x, y position
of the landing spot in the image and the height and the width of the bounding box.

2.4 Corner Detection

The information about the bounding box and the image from the first phase would be
feed into the Corner estimation algorithm. In this phase, the top left, top right, bottom
left and bottom right corners of the landing spot will be identified in the image. The
section of the image, which is slightly larger than the detected bounding box area and
which encompasses the detected bounding box, should be chosen for the corner
detection. Here, the width and height of the selected section of the image can be 1.5
times that of the detected bounding box. The steps for acquiring the corners from the
selection section of the image is listed below:
1. Converting to gray scale image.
2. Application of Canny edge detection to get the edges of the landing spot.
3. Perform Hough lines detection to find the lines of the landing spot.
4. Augment the image with the detected lines. The lines to be augmented are chosen
such that they are among the top 14 lengthiest lines among the detected lines.
5. Perform Harris corner detection on the augmented image.
6. Take the top leftmost, top rightmost, bottom leftmost, bottom rightmost as the four
corners in the images as the corresponding points of the landing spot.
In order to calculate the effectiveness of both methods, the difference between the
ground truth value and detected positions of each of the four corners would be cal-
culated. Then mean error distance for each corner detected will be calculated, which is
the average of the distance from ground truth calculated for each of the four points.
 Automatic Pose Estimation of Micro Unmanned Aerial Vehicle 7

2.5 Pose Estimation

The position of the four corners detected in the image using the previous phase is used,
to get the pose of the camera with respect to the landing spot. The pose information
contains the x, y, z position and the rotation around x, y & z axis. Estimating of the
pose of a calibrated camera, given a set of n 3D points in the world and their corre-
sponding 2D projections in the image, is a Perspective- n-Point problem. Since the
camera position is fixed with respect to the MAV frame, the pose of the camera also
gives the pose of MAV with respect to the landing spot.
After solving the Perspective-n-Point problem using the 4 point correspondence
between the detected four corners and the actual four corners in the world coordinate,
more accurate estimation of the x, y, z positions of the MAV with respect to the landing
spot is obtained. This position information would finally be used by the landing
mechanism for landing the MAV into the landing spot. The equation governing this
projective transformation is shown below:
2 3
2 3 2 32 3 x
u fx c u0 r11 r12 r13 t1 6 7
y7
s4 v 5 ¼ 4 0 fy v0 5 4 r21 r22 r23 t2 5 6
4 z 5:
1 0 0 1 r31 r32 r33 t3
1

Here, s is the scaling factor. fx and fy are the x and y focal length in pixels. x, y, z
are the world coordinate of a given point and u, v are the x and y locations of the point
in an image. The transformation in x, y, z direction is given by t1, t2, and t3.
Since obtaining the ground truth data for the flying MAV is difficult in absence of
state-of-the-art object tracking laboratory, the ground truth data of the x, y, z position of
the MAV with respect to the landing spot needs to be obtained using hand-held MAV.
The difference in the x, y and z position of the calculated observed value and the
ground truth value needs to be calculated. The error percentage in x, y and z positions
would be given by the formula below:

ðXg  XcÞ  100%

Error percent in X position ¼
Xg

ðYg  YcÞ  100%

Error percent in Y position ¼
Yg

ðZg  ZcÞ  100%

Error percent in Z position ¼
Zg

Here, Xg, Yg, Zg denotes the ground truth value of the measured distance between
the MAV and landing spot. Xc, Yc, Zc, represents the calculated distance from the pose
estimation phase.
Another random document with
no related content on Scribd:
that the only papers of Oudney’s placed in his hands, were “an
itinerary from Mourzuk to Bornou,” and “An excursion to the
westward of Mourzuk.” The latter is printed at the end of the
“Introductory Chapter;” but of the former, only a few mineralogical
notes are given. There is not a doubt, however, but that a vast mass
of materials illustrative of the districts visited, were collected by Dr.
Oudney, although it is now impossible to say what has become of
them. Mr. Barrow asserts that he was labouring under a pectoral
complaint when he left England; and that the disorder was increased
by this journey to Ghaat, and he would thereby insinuate that, during
the greater part of the time he lived in Africa, he was rendered unfit,
by bodily weakness, for keeping regular journals. Now, none of his
most intimate friends had the least suspicion that he was troubled
with any disease of the breast. His chest, instead of being
contracted, was broad and ample; and, in ascending the hills of his
native land, and the equally difficult common stairs of Edinburgh, the
lightness of his figure, and the activity of his habits, always enabled
him to outrun the longest-winded, and the supplest-jointed of his
companions; and certainly nothing mentioned in the letters which we
have published would lead to the inference that he did not enjoy the
most perfect health till after he had been a considerable length of
time in Bornou. It is likewise quite clear that he was not of a
character to neglect any duty which the situation in which he was
placed imposed upon him; and so we repeat, that a great deal of
valuable information must have been collected by him, although it is
to be feared it is now irrecoverably lost. It is to be regretted,
moreover, that his premature death rendered the term of his service
too short to warrant government to make some provision for his
sisters, now orphans, and one of them in a bad state of health.
 MEMOIR
OF

CAPTAIN HUGH CLAPPERTON,

THE

AFRICAN TRAVELLER.
 MEMOIR
OF

CAPTAIN HUGH CLAPPERTON,

THE

AFRICAN TRAVELLER.

Section I.—INTRODUCTORY REMARKS.

The life of Captain Hugh Clapperton, who died in his second attempt
to explore the interior of Africa, was short, but very eventful. Not only
did he possess a frame and constitution, both of body and mind, well
fitted for a career of active exertion and romantic enterprise; but from
the day of his birth to that of his death, it was his lot to endure, with
almost no interruption, a painful succession of hardships and
privations, or to be engaged in scenes and pursuits of a nature so
perilous as to put existence itself in constant and imminent jeopardy.
And had any record of these things been kept, either by himself or by
any one else, who might chance to know even a tithe of the manifold
dangers to which he was exposed, and the bold, and sometimes
rash enterprises in which he was engaged, a narrative might thence
have been composed, all true to the letter, and yet as full of
wonderful and diversified incident, as well as of fearless and daring
action, as ever flowed from the pen of the most creative genius in
fictitious history—all modified by the child-like simplicity and
generous nobleness of heart, combined with unbending integrity,
unshrinking courage, and indomitable fortitude, in the character of
him, whose fortunes in life they formed, and whose achievements in
the discharge of duty they exhibited. But no such record was kept,
except, while he lived, in our hero’s own retentive memory; and
therefore, now that he is dead, some of the most marvellous
passages of his life must remain in the deep oblivion in which they
have been buried. We are assured by the friends with whom he lived
in the closest intimacy, that when, like Othello, he was questioned
respecting the story of his life from year to year; the battles, sieges,
fortunes, that he had past; he would, with a fine flow of good humour,
and an interesting detail of particulars, run it through even from his
boyish days, down to the time when he was desired to tell it; and
then, like the enamoured Moor, it was his hint to speak of most
disastrous chances,

Of moving accidents by flood or field;

Of hair-breadth ’scapes in the imminent deadly breach;
Of being taken by the insolent foe,
And sold to slavery; of his redemption thence,
With all his travel’s history.

But these narratives of his adventures were given by Clapperton

for the sole end of entertaining his friends when they met for the
mere purpose of social intercourse and convivial enjoyment; and,
therefore, those friends can now give but a very indistinct account of
what “by parcels they had something heard,” without any intention of
detailing it again, unless in the same way and for the same purpose
it had been told to themselves. Hence the early and professional life
of our traveller can never be well known, except that part of it which
he has embodied in the published journals of his expeditions to
Africa. And not only are the incidents of his life during the time he
was a sailor imperfectly known, but even of those parts of it
respecting which we have obtained some vague information, we
have different versions of the same story considerably at variance
with one another; so that, amid their discrepancy, it is difficult to
select the facts and circumstances relative to the life of our hero
which are genuine and free from defect on the one side, and
exaggeration on the other. No memoir of his life has yet appeared at
all worthy of him. We have seen in one periodical an atrocious libel
upon his memory, the emanation evidently of a mean and malignant
spirit. Any newspaper notices of him which have been printed are
meagre in the extreme; and the “Short Sketch” which is prefixed to
the “Journal of his Second Expedition,” and purporting to be the work
of his uncle, a colonel of marines, although the best account of him
which has yet appeared, contains exceedingly little that is really
interesting. Such being the lack of materials, we regret much that we
shall not be able to produce a “Memoir” adequate to the subject; but
we can assure our readers that we have used all diligence to obtain
the most accurate and ample information which can now be had, and
shall therefore proceed to submit it to their candid consideration.

Sect. II.—HIS PARENTAGE AND EARLY MISFORTUNES.

In one of the short notices which have been published of the

traveller’s life, it is stated that the “family of Clapperton is ancient,
and not without celebrity in the north of Scotland. The name,” it is
added, “has been distinguished both in the church and in the field;
and in proof of this we are told that a Bishop Clapperton is buried in
the island called Inchcolm, in the Firth of Forth; while another
individual of the same name is mentioned in the history of Sweden
as having been a field-marshall in the army of that country. We
cannot tell whether the prelate or the soldier is to be regarded as
belonging to the family whence the African traveller was descended;
but it unquestionably was highly respectable, both in point of
antiquity and of its station in society. His grandfather, Robert
Clapperton, was a doctor of medicine, whose professional studies
were pursued by him first at the University of Edinburgh, and
afterwards among the hospitals in Paris. On his return to his own
country he married Miss Elizabeth Campbell, a near relation of
Campbell of Glenlyon, and settled at the town of Lochmaben, in
Dumfries-shire, as a medical practitioner. He is said to have been a
good classical scholar, and much attached to the study of antiquity;
and while he excelled in the tracing of genealogies, in the collecting
of coins and songs, with the view of illustrating border history, he
was highly esteemed as a skilful physician. He had two sons, the
younger of whom chose the army as his profession, and is now a
lieutenant-colonel of marines; but George, the elder of the two,
adopted that of his father; and having previously obtained an
adequate professional education, he settled as a surgeon in the town
of Annan, Dumfries-shire. He was long the only medical practitioner
of repute in that place; and the numerous operations and cures
which he performed proved the means both of increasing his
practice and extending his fame. While still young, he married a
daughter of Johnstone of Thornythwaite, by whom he had fourteen
children, Hugh, who afterwards became the African traveller, being
the tenth. The mother of this numerous family, who is described as
beautiful, amiable and accomplished, died in the thirty-ninth year of
her age, leaving behind her seven sons and a daughter, Hugh being
the youngest of these surviving sons, and consequently a mere
infant. And to enhance the greatness of the bereavement which he
had sustained in the loss of his mother, his father speedily
afterwards married a second wife, whom his friends regarded as a
woman of inferior station to that which he and his family occupied. At
the time when this second marriage took place, most of the sons had
left their father’s house, to engage elsewhere in the active pursuits of
life, and the girl had been taken away by her mother’s relations; but
the subject of this memoir and some of his younger brothers, were
left at home to encounter the stern control of a stepmother—a
species of government at best far from being desirable, but in the
case of the young Clappertons, rendered peculiarly arbitrary and
despotic, from the concurrence of a variety of incidental
circumstances. In the first place, their stepmother, conscious that
she was deemed by the friends of the family an unsuitable match for
their father, must have been haunted incessantly by a feeling, not at
all likely to soothe and sweeten her temper, or fitted to dispose her to
regard the children of the former marriage with any considerable
degree of complacency; by a feeling not likely to lead her to watch
over such of them as were subject to her management with any very
vigilant attention, to make her extremely solicitous about their
comfort or improvement, or to visit them with a treatment any way
marked by kind and tender affection. In the second place, she soon
had children of her own, and these, by degrees, increased, till they
amounted to the number of seven; and it will readily be allowed, that
her own offspring were naturally fitted more strongly to engage her
affections and to engross her solicitude, than those children with
whom she had only an adventitious relationship. And in the third
place, it would appear that Dr. Clapperton himself, the father of the
African traveller, was not by any means so attentive to the interests
of his immense family as he ought to have been; for his brother, the
colonel, says of him, “He might have made a fortune, but
unfortunately he was, like his father, careless of money;” and we
believe the fact cannot be denied; nor, moreover, can it be disguised
that the condition into which he fell in his latter days was owing,
partly at least, to a culpable neglect of his professional duties.[3]
When, therefore, it is considered that as his father advanced in
years, his circumstances in life so much declined, as at last to
reduce him into a state of abject indigence,—while at the same time
his family was constantly increasing in number, and that it was the
melancholy lot of our traveller to lose his mother in his infancy, and
so scarcely ever to have had the happiness to experience the
soothing and heart-impressive influence of maternal tenderness and
maternal care, but, on the contrary, to be placed at that tender age
under the care and control of a stepmother,—it will be abundantly
obvious that his life commenced under the most unpropitious
auspices that can well be imagined.

Sect. III.—HIS BIRTH, EDUCATION, AND YOUTHFUL ADVENTURES.

He was born in the year 1788, and was, as we have seen, soon
after placed under the charge of a stepmother, by whom it is said he
was not only neglected, but treated with harshness and cruelty; and
hence throughout his life stepmothers were regarded by him with a
feeling of unconquerable horror.[4] The accounts which he
occasionally gave his companions of the sufferings of his youth,
arising from the causes which have been specified, were appalling.
In reference to them, an enemy, who, however, seems to have been
in possession of accurate information on the subject, says, that while
a schoolboy, “the climate of Lapland and that of Timbuctoo
alternated several times in the course of a day—a species of
seasoning, or rather case-hardening, that must go far to render him
invulnerable on the sultry banks of the Joliba.” And one of the most
intimate of his friends thus speaks of them in a letter now before us:
“How can the hardships and privations of his early life be touched
upon without hurting the feelings of relatives? These had much
better be buried in oblivion, although they tended to form the man
hardy and self-denying.” When he was a boy, he was nearly
drowned in the Annan; and on that occasion he used to say, that he
felt as if a calm and pleasing sleep was stealing over his senses, and
thought that gay and beautifully painted streamers were attached to
his legs and arms, and that thereby he was buoyed out into the sea;
but he always declared that he experienced no pain until efforts were
making to restore him to a state of animation. At this time he was an
expert swimmer, having been previously taught that useful art by his
brothers; but he had exhausted his strength by continuing too long in
the water. When the alarm of his danger was given by some one to
his father, he hastened to the spot, plunged in, and found his son in
a sitting posture in very deep water.
Among the injuries of his early life, that of a neglected education
was none of the least. He was taught the ordinary acquirements of
reading, writing, and arithmetic, which are generally imparted to the
lowest classes of the Scottish youth; but he was never initiated into a
knowledge of the classic authors of Greece and Rome. Under Mr.
Bryce Downie, however, a celebrated teacher of geometry in the
town of Annan, he acquired a practical knowledge of mathematics,
including navigation and trigonometry, and afterwards, by means of
his own application, he acquired many other branches of useful and
ornamental knowledge, and excelled especially in drawing.[5]
He very early discovered a strong propensity for this latter
accomplishment, so that, with the aid of a few instructions from his
father, who excelled in the knowledge of geography, he could sketch
a map of Europe, while still a child in frocks, with chalk on the floor.
His love of foreign travel and romantic adventure, were likewise very
soon manifested in the delight which he took in listening to his father,
while he pointed out the likely situation of the “North West passage”
to him and his brothers on the globe; in the enthusiasm which he
displayed, when told by his father that he might be the destined
discoverer of that long sought for route from Europe to Eastern Asia;
and also in the avidity with which he devoured books of voyages and
travels of all descriptions whenever they fell in his way.
The circumstance of his entering upon a seafaring life is variously
reported. By one account we are assured that his situation at home
being so unpleasant, he became so thoroughly disgusted with his
father’s house, that he left it clandestinely, and went on board the
first vessel in the harbour of Annan that was willing to receive him.
By his anonymous and unfriendly biographer, it is said that he was
promoted to the rank of an apprentice to a coasting sloop of
Maryport, commanded by Captain John Smith, and that soon
afterwards he was again promoted to the rank of cook’s mate on
board his majesty’s tender in the harbour of Liverpool. His uncle’s
account, in the sketch of his life prefixed to the Journal of his Second
African Expedition, is, that on leaving Mr. Downie, at the age of
thirteen, he was, by his own desire, bound an apprentice to the
owner of a vessel of considerable burden trading between Liverpool
and North America: that after making several voyages in that vessel,
he either left her or was impressed into his Majesty’s service, and
put on board the tender lying at Liverpool. It is clear, from all these
accounts, that Captain Clapperton commenced his naval career as a
common sailor boy—a situation which implies hard duty and rough
usage; yet, as is testified by the following well authenticated
anecdote, this, with all he had previously endured, was unable to
break his spirit, or to subdue the dignified feelings of a noble nature.
As soon as he had joined the trading vessel in which he first sailed,
he was told that one piece of duty which he had to perform on board
was to brush his captain’s boots and shoes. This he positively
refused to do, adding, that he was most willing to take his full share
of the hardest work which belonged to the loading, the unloading, or
the working of the ship; but to the menial drudgery of cleaning boots
and shoes he certainly would not submit. After he had for a short
time served on board several trading vessels, he was impressed into
his Majesty’s service at Liverpool; and in 1806 he was sent to
Gibraltar in a navy transport.[6] The idea, however, of having been
placed on board a man-of-war by force, and retained there as a
prisoner, was so galling to his nature—to a spirit panting and
struggling to be free—that he formed the resolution (one most
difficult to be put in practice) of deserting whenever the opportunity
of doing so should occur: and such was the reckless daring of his
disposition, that, watching the time when he was least observed by
his messmates before the mast, he actually threw himself headlong
overboard, and swam towards a Gibraltar privateer—a vessel of that
class which, during the late war, were usually called rock scorpions
by our sailors. He was taken on board the privateer, and so for a
short time he was the associate of an abandoned and a lawless set
of robbers. But he was soon disgusted with their regardless, savage
and brutal manners, and so embraced the first opportunity of leaving
them, and of going again into the merchant service. While, however,
he was on board the Rock Scorpion, she had sustained an
engagement, in which our hero was severely wounded by a grape-
shot—an accident by which his body was seamed and scarred in a
frightful manner, and which, had it happened to his face or his limbs,
must have rendered him deformed or lame for life.

Sect. IV.—THE MANNER IN WHICH HE WAS PROMOTED TO THE RANK OF

A MIDSHIPMAN IN THE ROYAL NAVY.

After he had left the privateer he was soon discovered, and

brought back to the Renommée frigate as a deserter. It is mentioned
in the “Sketch,” which says nothing of the rock scorpion adventure,
that when Clapperton first joined the Renommée frigate, which was
commanded by Sir Thomas Livingstone, having heard that his uncle,
a captain of marines on board his Majesty’s ship Saturn, which had
arrived at Gibraltar for the purpose of watering and refitting, he sent
him a letter describing his situation on board the Renommée; that his
uncle having previously been a messmate of her captain, Sir
Thomas Livingstone, interfered with him in behalf of his nephew, and
through his interest got him promoted to the rank of a midshipman.[7]
All we can say to this statement is, that Clapperton himself, whose
heart was most grateful, never spoke of a letter he had written to his
uncle, nor that he was in any way indebted to that gentleman for his
promotion in the navy. He seems never to have seen his uncle till he
met him in London after he had engaged to go with Dr. Oudney to
Africa. In a letter to a friend, dated London, 1st September 1821, he
says, “my uncle has been to see me several times, and was truly
kind. He is a perfect gentleman, without any nonsense.” Now, the
correspondent to whom he thus writes, declares that Clapperton
never mentioned to him that he had ever written to his uncle,
soliciting his interest in his favour, or that he was in any respect
indebted to him, in the first instance, for his promotion in the navy.
But while he said nothing to his friend of his uncle in connexion with
this matter, he frequently gave him a most circumstantial and graphic
description of the manner in which this promotion took place. And as
it is in keeping with the rest of the romantic and eventful life of our
hero, and, above all, as it is his own account, we hasten to lay it
before our readers.
When he was apprehended as a deserter, and brought back to his
old birth on board the Renommée, his captain, Sir Thomas
Livingstone, having previously observed that he possessed a
strength of body, a robustness of constitution, and a fearless
daringness of spirit, which might be turned to good account in the
naval service, which, at that time required to be sustained and
strengthened by attaching to it men of such mental and bodily
qualities as these, asked the deserter, if he should pardon his
delinquency, and raise him to the rank of a midshipman, would he
give him his solemn pledge, that he would no more desert, but do his
duty faithfully? Clapperton, with the bold and dauntless air and
bearing of the captive British prince, who “had been the admiration,
the terror of the Romans,” when led in triumph through the streets of
the mighty capital, still “walked the warrior, majestic in his chains,”
replied that he was not yet prepared to give a final and decisive
answer to such a question, and therefore asked time to consider on
what he should determine. “Are you not aware, Sir,” rejoined the
captain, “that I can order you to be flogged as a deserter?” “That I
know you can do, and I expect no less,” was our hero’s reply, “but
still I am unprepared at present to decide on your proposal.” The
result, however, of this extraordinary conversation was, that the
captain ordered him into solitary confinement, with an admonition to
lose no time in coming to a speedy determination as to the course
which he should adopt. In this situation his reflections took a wise
and a prudent turn, and led him quickly to resolve to give his
generous captain the assurance of fidelity which he required of him;
and, on doing so, he was promoted to the rank of a midshipman on
board the Renommée frigate, where he had first served as an
impressed sailor boy, and on the deck of which he had stood in the
capacity of an apprehended deserter. Afterwards, on his own
request, he was allowed to go on shore during a specified period of
time, on his parole of honour. It is very true the account of his
promotion through his uncle’s interference in his behalf accords
better with the ordinary course of things in such proceedings than
that stated above. But we think, that if Clapperton had been aware
that he was indebted to his uncle on this occasion he would not have
concealed the fact from his friends; and likewise we think, that the
disparity of his condition as a common sailor, and that of his uncle as
a captain of marines, would have been sufficient to deter him from
making himself known to his uncle, or asking any thing from him. For
though his feelings of honour sometimes rested on mistaken
principles, they were always very sensitive; and so we are decidedly
of opinion, that in the circumstances of this case he would have felt
equally unwilling to expose his own servile condition to his uncle,
and to compromise his uncle’s dignity by making the captain of
marines appear the near kinsman of the common sailor. We happen
to know a case in point which illustrates this view of the matter.
During the late war, one of the sons of a gentleman in Argyleshire,
absconded from his father’s house, and for a while it was unknown
where he had gone, till he was discovered by one of his brothers, a
captain in the army, as a common sailor on board a man-of-war. The
captain instigated by fraternal affection, was anxious to procure an
interview with his brother, and so sent him a note, informing him
where he was, and expressing his earnest desire that he would
endeavour to meet him on shore. The answer to this kind and
brotherly invitation was an expression of wounded pride. “If,” said the
sailor, “Captain M. has any business to transact with Donald M. let
him come on board H. M. S——— and transact it there.” And we
think Clapperton would have been apt to feel and act nearly in the
same manner in the circumstances in which he and his uncle were
relatively situated on board the Renommée frigate, and the ship
Saturn; though at the same time, it is not unlikely that Sir Thomas
Livingstone having discovered his deserter’s connexion with his old
messmate, was disposed not only to remit his punishment, but
likewise to give him the chance of retrieving his honour and of
benefiting his country. Neither do we think it is the least unlikely that
Sir Thomas and Captain Clapperton may have had mutual
communications respecting our hero, but we can see no reason for
believing that he was in any way made privy to them, but many to
make us believe the contrary. Now raised to the rank of a
midshipman, he performed some hard service on the coast of Spain,
in which he was wounded on the head—a wound which, though it
seemed apparently slight, afterwards gave him much annoyance. He
remained on board the Renommée, and under the command of Sir
Thomas Livingstone, to whom he was so deeply indebted, till the
year 1808, when the frigate was brought to England and paid off.[8]

Sect. V.—HIS SERVICE IN THE EAST INDIES.

When Clapperton left the Renommée frigate, and his generous

captain, Sir Thomas Livingstone, to whom he was indebted for his
first step of promotion in the Royal Navy, he is said to have joined his
Majesty’s ship Venerable, (or, as others say, the San Domingo,)
which then lay in the Downs under the command of Captain King.
But as this was a situation too monotonous and inactive for his
enterprising spirit, he volunteered to go with Captain Briggs, to the
East Indies, in the Clorinde frigate. Though, however, his services
were accepted, he could not obtain his discharge in time to make his
voyage to India in the Clorinde; and so he was deprived of the
pleasure of getting acquainted, in the course of it, with those with
whom he was ultimately to be associated as his messmates. But as
tranships and convoys were frequently sailing from England to the
east, he was ordered by the Admiral to have a passage on board
one of them, and to join Captain Briggs on his arrival in India.
In the course of this outward voyage, he was ordered, during the
raging of a tremendous storm, to go, in an open barge, to the relief of
a vessel in distress. The barge was accordingly manned, but the
mighty rolling of the billows chaffed and vexed with the furious raging
of the tempest, was such, that Clapperton and many others on board
the ship in which he sailed, were of opinion, that it was next to
impossible an open boat could live during the blowing of so heavy a
gale. In this emergency, Clapperton said, that it was not for him to
dispute the orders of his superior officer, but that he was thoroughly
convinced that in doing his duty he must sacrifice his life. Then, in
serious mood and sailor-like fashion, he made his will, bequeathing
any little property he had among his messmates—his kit to one, his
quadrant to another, and his glass and watch to a third—adding, that
in all probability they should never meet again, and requesting them
to keep these articles, trifling as they were, in token of his affection
for them. Then he jumped into the barge, which, in spite of all that
the most skillful seamanship could accomplish, had scarcely left the
side of the ship, when she was upset, and the greater part of her
crew engulfed in the awfully agitated waters. Clapperton, however,
and a few other individuals, still clung to the sides of the floating
wreck; and though their perilous situation was distinctly seen from
the ship, no assistance could be afforded to them, so long as the
tempest continued to rage with so much violence. In the mean time,
Clapperton, while he was careful to preserve his own life, did his
utmost, and more than perhaps any other man would have ventured
to do in like circumstances, to save the lives of his companions in
distress. As they, one by one, lost their hold of the barge, and
dropped off into the sea, he swam after them, picked them up, and
replaced them in their former situation. He was especially anxious to
save the life of a warrant officer, the boatswain of the ship, we
believe. This man he several times rescued when he was on the
point of sinking, and restored him to the barge. By these efforts,
Clapperton’s strength, great as it was, soon became nearly
exhausted, and while with difficulty he was bringing the boatswain
back to take a fresh hold of the boat, and while at the same time he
was crying, “Oh, what will become of my wife and children,”
Clapperton coolly observed, that he had better pay some attention to
his own safety at present, otherwise he must, however reluctantly,
leave him to his fate. This man was drowned, as well as every one
else who had left the ship in the barge, except Clapperton and the
bowman, whom our hero cheered by saying, “Thank heaven neither
you nor I is the Jonah,” intimating, by this marine proverb, that it was
not for the punishment of their bad conduct that the tempest had
been sent; and at the same time advised him to bob, that is, to lay
himself flat, when he saw a wave approaching, so that he might not
be washed off the barge.
Long prior to this signal occurrence, in which our hero showed so
much of the boldness of determined courage, united with the gentle
feelings of compassion, he had become a general favourite both with
the officers and men. His stately form, his noble bearing, his kind,
frank, and manly demeanour, had endeared him to all on board the
ship in which he served. But a man is often the last to know the
sentiments entertained of him by others to whom he is known; and
indeed, seldom knows them at all, unless when they happen to be
revealed to him by accidental circumstances. And hence, as
Clapperton was hoisted on board the ship, in an exhausted state,
after being rescued from the perilous situation in which he had so
long struggled for his life, he had his feelings strongly excited, on
hearing the wives of the Scottish soldiers on board exclaiming,
“Thank heaven, it is na our ain kintryman, the bonny muckle
midshipman that’s drownded after a’!”
It may reasonably be supposed, that the gallantry and humanity
which Clapperton had so conspicuously displayed on this trying
occasion, would tend to deepen the esteem in which he was held by
all on board, and especially that it would be the means of securing
for him the admiration, the affection, and the friendship of many
kindred spirits connected with the navy—a service so long and so
eminently distinguished for firmness of purpose and nobleness of
disposition. Accordingly, when Clapperton arrived in India, and when
his gallantry was made known, he received the greatest attention
from Captain Briggs,[9] during the whole of the time he continued
under his command; and among other friendships which he formed
with officers of his own standing, was one of peculiar intimacy and
tenderness, with Mr. Mackenzie, the youngest son of the late Lord
Seaforth. It happened that this amiable and noble youth became, in
that distant region, the victim of a dangerous disease; and during the
whole of his illness, Clapperton, his newly acquired friend, unless
when the avocations of professional duty called him hence, never left
him; but continued to amuse and nurse him with the affectionate
assiduity of a loving brother, till he was so far recovered as to be
able to resume his public duty. After Mackenzie was in some degree
restored to health, he continued to be depressed in spirits, and in
that state became careless of his person and of every thing else,
thinking, like most hypochondriacs, that death was fast approaching
to deliver him from all his sufferings. When under the influence of
these feelings—afflicted indeed both in mind and body—he was by
no means a desirable companion, and in truth was shunned by most
of the young officers on board the Clorinde. But Clapperton, whose
benevolent heart would not permit him to witness a fellow-creature,
and still less a countryman and a friend an object of unfeeling
neglect, redoubled his attentions to the forlorn youth. He read with
him daily such books of instruction and amusement as either of them
had in their possession, or could procure the perusal of from the
other officers. He endeavoured to inspire him with the sentiments
befitting his rank as the lineal descendant of a noble family, and with
a sense of the duties incumbent upon him as an officer of the British
navy. He talked to him of Scotland, and relations, and home. He
entertained him with amusing anecdotes, of which he possessed an
inexhaustible fund, and by relating to him the numerous vicissitudes
and strange adventures of his own early life. And such was the
happy effect produced upon the health and spirits of his young
friend, that he was able to resume his duty on board the Clorinde,
and to enjoy and return the cordial friendship which he experienced
from Clapperton.
Though we believe, that the officers of the British navy are,
perhaps, more distinguished for simplicity of feeling and openness of
heart, than the men belonging to any other profession whatsoever;
yet, it would appear, that some of the officers of the Clorinde had
given entertainment in their breasts to the green-eyed monster,
Envy. And hence, when they observed the close intimacy which
subsisted between Clapperton and Mackenzie, and the kind
attention which, during his illness, the latter experienced from the
former, they said among themselves, but loud enough to be heard by
Clapperton, “The canny Scotsman knows what he is about, by
attaching himself so closely to a sprig of nobility; he courts his favour
that he may use him as his instrument for obtaining promotion.” The
effect of these injurious whisperings upon the mind of our hero was,
in the first instance, to cause him to make a great sacrifice of feeling
to the injury both of himself and his friend. He withdrew all attention
from Mackenzie, and ceased, not only to keep company with him,
but even to speak to him when they met. Mackenzie, in utter
ignorance as to the cause of the change which had so suddenly
taken place in the conduct of Clapperton towards him, after having
puzzled and perplexed his mind in conjecturing in what way he had
given such deadly offence to his friend, as to make him behave in
the manner he was doing, at last mustered courage, fairly to ask
him, why he had of late treated him with so much coldness and
distance? On this, Clapperton, with his feelings strongly excited,
stated to his friend what had been said among their shipmates, of
the interested motives which had been attributed to him, as the
cause of what they had represented as pretended friendship on his
part. “But,” he added, “my dear Mackenzie, I have been wrong to
punish both myself and you, in listening to these most false and
injurious speeches. And henceforth let the best of them beware how
they use them in future; for the first man whom I detect doing so,
must do it at the risk of his life.” As this hint was pretty publicly
intimated on the part of Clapperton, his friendship for Mackenzie
suffered no interruption afterwards, so long as they served together
in the same ship. But the disease which he had caught returned
upon him again, and after causing him to linger for some time as an
invalid, he was sent to his friends, with little hope of his recovery; nor
indeed had he been long at home, till he died. While, however, he lay
upon his death-bed, he spoke with all the enthusiasm of sincere and
warm friendship, of the kind attentions he had received from
Clapperton when ill and far from home; and entreated his relations,
and especially his mother, to discharge the debt of gratitude which
he owed him, by treating him as a son, in requital of his having, so
long as he had it in his power, treated him as his brother.
 We have not been able to obtain any satisfactory information
respecting the nature of the naval service in which Clapperton was
employed in India, nor of the exploits of seamanship and prowess
which he performed while he was on that station, except in one
instance, which is well worthy of being recorded to his honour. When
we stormed Port Louis, in the Isle of France, he was the first man
who advanced into the breach; and it was he who pulled down the
colours of France, and planted those of Britain in their place. And we
know that his conduct was in all respects worthy of the rank which he
had obtained in a manner so unique, and such as entitled him to
expect his turn of promotion in due course. He continued in India
from the early part of 1810 till the latter end of 1813, when he
returned to England. He had not been long at home, when he was
draughted, along with a select number of midshipmen, for the
purpose of being sent to Portsmouth, to be instructed by Angelo, the
famous fencing-master, in the cutlass exercise, with the view of
introducing that mode of defence and attack into the navy. These
young men, when perfected in the art, were distributed through the
fleet, as teachers of the young officers and men. Clapperton, being
an apt pupil, soon excelled in this exercise, and when his
companions were distributed through the fleet as drill-masters, he
was sent to the Asia, the flag ship of Admiral Sir Alexander
Cochrane, then lying at Spithead.

Sect. VI.—HIS SERVICE ON THE LAKES OF CANADA.

While he taught Angelo’s sword-exercise on board the Asia, he

volunteered his services for the lakes of Canada, in the expedition
which was sent to that novel scene of naval enterprise towards the
beginning of the year 1814. In the voyage from England to
Bermuda[10] he continued to act as a drill-master on board the Asia;
and though, as yet, he had obtained no higher rank than that of
midshipman, such was the respect in which he was held, and the
deference paid to him, that in most respects he was treated as if he
had been a lieutenant. He was now a tall and handsome young man,
with great breadth of chest and expansion of shoulders, and
possessing withal a mild temper and the kindest dispositions. Along
with his other duties he drilled the young officers and men on deck,
whenever the weather permitted, and when amusement was the
order of the day, he was the life and soul of the crew; he was an
excellent table companion, he could tell humourous tales, and his
conversation was extremely amusing; he painted scenes for the
ship’s theatricals, sketched views, drew caricatures, and so he was
much beloved and respected by all, to whose amusement he so
largely contributed.
The following incident affords a striking proof of the almost
invincible hardiness of his constitution, for which he was indebted
partly to the bounty of nature, and partly to the privations and habits
of his early life. Having bidden adieu to the flag ship, on which he
had acted so conspicuous a part, and taken his passage to Halifax,
with the view of thence proceeding to the lakes, he was sent along
with others to perform some service on the horrid coast of Labrador,
and being there cast away while in a long boat, all the individuals
who were along with him at the time were so severely frost bitten
that some of them died, and the rest were lame for life, while he
escaped with only losing the power of the first joint of his left hand
thumb, which ever after continued crooked, and on that account
used to be called “Hooky,” both by himself and his friends.
He was sent, along with a party of five hundred men, from Halifax
to join Sir James Yeo, who, at that time, had the command upon the
Lakes. As this journey was performed in winter, when the river St.
Lawrence is frozen over, and of course when the water
communication is suspended, it was both tedious and toilsome. The
men marched on foot, first to Quebec, and then to the lakes, while
the baggage was dragged after them in sleighs. Soon after his arrival
on the lakes, he and a small party of men were appointed to defend
a blockhouse on the coast of Lake Ontario; but he had not been long
in this situation when the blockhouse, which had only one small gun
for its defence, was attacked by a superior American force, by which
it was speedily demolished; and when Clapperton and his men were
left no other alternative but to become prisoners of war, or to cross
the ice to York, the capital of Upper Canada, a distance of sixty or
seventy miles. Frightful as the attempt was, in their destitute and
forlorn circumstances, the journey was instantly resolved upon. But
the party had not advanced more than ten or twelve miles, when a
boy, one of the number, lay down on the ice unable to proceed
farther, on account of the cold, and his previous fatigue. The sailors
declared, each in his turn, that they were so benumbed with cold,
and so exhausted by wading through the newly fallen snow, that it
was with difficulty they could support themselves, and so could afford
no assistance to the poor unfortunate boy. On this trying occasion
the strong benevolence of Clapperton’s character was strikingly
manifested. His nature was too generous to suffer him for a moment
to endure the idea of leaving a fellow-creature inevitably to perish
under such appalling circumstances; for as it was snowing at the
time, it was quite evident that the boy would, if left, have been
quickly overwhelmed by the drift. Clapperton, therefore, took the boy
upon his own back, and carried him about eight or nine miles, when
he found that he had relaxed his hold, and on examining the cause,
he was perceived to be in a dying state, and very soon after expired.
The party then proceeded on their journey, and endured very great
sufferings before they could reach York. Their shoes and stockings
were completely worn off their feet; and the want of nourishment had
dreadfully emaciated their bodies, as they had no provisions during
the journey except a bag of meal. According to his uncle’s account, it
was, while he was making generous efforts to save the boy, who fell
a victim to the cold, that Clapperton lost the first joint of his thumb.
His uncle says, “he took the boy upon his back, holding him with his
left hand, and supported himself from slipping with a staff in his
right;” and adds, “that from the long inaction of his left hand in
carrying the boy upon his back, he lost, from the effects of the cold,
his thumb joint.”—This is certainly a very probable account of the
matter, and assigns a cause sufficiently adequate for effecting a
greater bodily injury than the loss of part of a thumb. But, as we have
great confidence in the information which we have received on the
subject, we are inclined to adhere to the account which we have
given above, namely, that Clapperton lost the joint of his thumb on
the coast of Labrador, when his companions in distress lost their
limbs and their lives. It is evident, moreover, that his uncle’s
information on many points was neither very extensive nor very