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	<title>Patrick O&#039;Keefe</title>
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		<title>Real-Time 6-DOF SLAM for a Quadrotor Helicopter</title>
		<link>http://www.patokeefe.com/archives/758</link>
		<comments>http://www.patokeefe.com/archives/758#comments</comments>
		<pubDate>Thu, 29 Dec 2011 18:08:36 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[Portfolio]]></category>
		<category><![CDATA[Quadcopter]]></category>

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		<description><![CDATA[Simultaneous Localization and Mapping (SLAM) is a challenging and important problem in robotics. Here, a quadrotor helicopter is flown around a series of markers on the ground arranged in a square. These markers are observed by a downward facing camera and are registered as landmarks in the environment (the stars in the picture). A state of the art SLAM technique is used to recover the trajectory of the quadrotor as well as the positions of the landmarks.]]></description>
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		<title>Emacs orgtbl-mode export to LaTeX matrix</title>
		<link>http://www.patokeefe.com/archives/742</link>
		<comments>http://www.patokeefe.com/archives/742#comments</comments>
		<pubDate>Thu, 03 Nov 2011 02:04:57 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[Emacs]]></category>

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		<description><![CDATA[Here&#8217;s one thing I know: I love Emacs, LaTeX, and matrices. I often find myself typesetting matrices, and it&#8217;s a huge pain. I&#8217;m just not good at hitting the &#8216;&#38;&#8217; character. To mitigate my suffering (#firstworldproblems), I wrote a few lines of Lisp that will allow me to use orgtbl-mode to typeset matrices. If you&#8217;re [...]]]></description>
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		<title>iOS CoreMotion Data Logger</title>
		<link>http://www.patokeefe.com/archives/731</link>
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		<pubDate>Fri, 28 Oct 2011 18:20:19 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[iOS]]></category>

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		<description><![CDATA[I just released a project that is an iOS utility to log sensor data so it can be processed offline. I wanted to prototype my algorithms in Python with a consistent dataset. This is the solution to that! It currently logs all the different types of data that are available in the CoreMotion framework. I&#8217;ve [...]]]></description>
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		<title>Converting from cv::Mat to UIImage</title>
		<link>http://www.patokeefe.com/archives/721</link>
		<comments>http://www.patokeefe.com/archives/721#comments</comments>
		<pubDate>Mon, 25 Jul 2011 16:48:12 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[iOS]]></category>
		<category><![CDATA[Mac OS X]]></category>

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		<description><![CDATA[I&#8217;ve been working with OpenCV and iOS development quite a bit recently and this is a handy function for getting an Apple-friendly UIImage from the C++ OpenCV class cv::Mat. Here you go: 1234567891011121314151617181920212223242526272829303132333435363738- &#40;UIImage *&#41;UIImageFromMat:&#40;cv::Mat&#41;image &#123; &#160; &#160; NSData *data = &#91;NSData dataWithBytes:image.data length:image.elemSize&#40;&#41;*image.total&#40;&#41;&#93;; &#160; &#160; CGColorSpaceRef colorSpace; &#160; &#160; &#160; &#160; if &#40;image.elemSize&#40;&#41; == [...]]]></description>
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		<title>Share Build Settings between Projects in Xcode 4</title>
		<link>http://www.patokeefe.com/archives/705</link>
		<comments>http://www.patokeefe.com/archives/705#comments</comments>
		<pubDate>Thu, 30 Jun 2011 22:47:01 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[Mac OS X]]></category>

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		<description><![CDATA[I often find myself editing the build settings of my Xcode projects because of external libraries or weird compiler flags for Objective-C++. It&#8217;s always frustrating when starting a new project to hunt down and reapply these settings. Even though the build settings interface improved in Xcode 4 (my opinion), it&#8217;s still not fun to use [...]]]></description>
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		<title>Isolated Word Recognition</title>
		<link>http://www.patokeefe.com/archives/644</link>
		<comments>http://www.patokeefe.com/archives/644#comments</comments>
		<pubDate>Sat, 08 May 2010 02:33:21 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[EEN502Project]]></category>

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		<description><![CDATA[This is the third and final project of EEN540 – Digital Speech and Audio Processing. For this project, I will be using a corpora of pre-recorded subjects to test two different methods of isolated word recognition. The methods will both involve dynamic time warping (DTW), and this will be a speaker-dependent system. The corpora can [...]]]></description>
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		<title>Sound Production Modeling Using Concatenated Acoustic Tubes</title>
		<link>http://www.patokeefe.com/archives/624</link>
		<comments>http://www.patokeefe.com/archives/624#comments</comments>
		<pubDate>Tue, 23 Mar 2010 04:34:55 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[EEN502Project]]></category>

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		<description><![CDATA[Results and Code for Part A Results and Code for Part B Code for Part C &#8211; Hey Hey Sound Code for Part C &#8211; Wow Wow Sound Part A seems to have come out alright. Nothing was extraordinarily surprising &#8211; all figures were kind of what I expected. I think the same about part [...]]]></description>
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		<title>The Acoustic Features of Speech Sounds</title>
		<link>http://www.patokeefe.com/archives/587</link>
		<comments>http://www.patokeefe.com/archives/587#comments</comments>
		<pubDate>Sun, 14 Feb 2010 22:44:26 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[EEN502Project]]></category>

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		<description><![CDATA[Part A Click on one of the phonemes below to view it&#8217;s acoustic features. Or click below to see 3D plots of Power Spectral Density vs Frequency vs Time. For a downloadable zip file of the sounds, please click here. The differences between the major phonemic categories are seen in the above figures, and the [...]]]></description>
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		<title>40 Mile Range XTend 900 MHz RPSMA Configuration</title>
		<link>http://www.patokeefe.com/archives/585</link>
		<comments>http://www.patokeefe.com/archives/585#comments</comments>
		<pubDate>Tue, 09 Feb 2010 17:59:56 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

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		<description><![CDATA[Our research group just bought a couple of these 40 mile range RF transmitters for our Everglades project. Doug Mann and I were tasked with getting them to talk to each other, and to our dismay, no tutorials existed on the interwebs. The documentation was little help because it kept on referring to the development [...]]]></description>
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		<title>Compiling HTK for Mac OS X Snow Leopard</title>
		<link>http://www.patokeefe.com/archives/565</link>
		<comments>http://www.patokeefe.com/archives/565#comments</comments>
		<pubDate>Fri, 22 Jan 2010 22:30:39 +0000</pubDate>
		<dc:creator>Patrick</dc:creator>
				<category><![CDATA[Mac OS X]]></category>

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		<description><![CDATA[The Hidden Markov Model Toolkit (HTK) is widely used in speech recognition research. Since I&#8217;ll be doing some multimodal speech recognition soon, I downloaded the HTK and tried to compile it for Snow Leopard. This didn&#8217;t work right away, and after scraping the bowels of the internet for help, I&#8217;ve finally managed to get it [...]]]></description>
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