Real-time cooperative interaction between structured-light and reflectance ranging for robot guidance

Robotica ◽  
1985 ◽  
Vol 3 (1) ◽  
pp. 7-11 ◽  
Author(s):  
Ernest W. Kent ◽  
Thomas Wheatley ◽  
Marilyn Nashman
Keyword(s):  
Real Time ◽  
Moving Objects ◽  
Structured Light ◽  
Video Camera ◽  
The Other ◽  
Cooperative Interaction ◽  
Complex Objects ◽  
Improved Performance ◽  
Log Linear

SUMMARYWhen applied to rapidly moving objects with complex trajectories, the information-rate limitation imposed by video-camera frame rates impairs the effectiveness of structured-light techniques in real-time robot servoing. To improve the performance of such systems, the use of fast infra-red proximity detectors to augment visual guidance in the final phase of target acquisition was explored. It was found that this approach was limited by the necessity of employing a different range/intensity calibration curve for the proximity detectors for every object and for every angle of approach to complex objects. Consideration of the physics of the detector process suggested that a single log-linear parametric family could describe all such calibration curves, and this was confirmed by experiment. From this result, a technique was devised for cooperative interaction between modalities, in which the vision sense provided on-the-fly determination of calibration parameters for the proximity detectors, for every approach to a target, before passing control of the system to the other modality. This technique provided a three hundred percent increase in useful manipulator velocity, and improved performance during the transition of control from one modality to the other.

Structured light camera calibration

2013 ◽  
Vol 21 (1) ◽  
Author(s):  
P. Garbat ◽  
W. Skarbek ◽  
M. Tomaszewski
Keyword(s):  
Information Technology ◽  
Camera Calibration ◽  
High Speed ◽  
Moving Objects ◽  
Structured Light ◽  
Video Camera ◽  
High Definition ◽  
University Of Technology ◽  
Is Integration ◽  
Calibration Techniques

AbstractStructured light camera which is being designed with the joined effort of Institute of Radioelectronics and Institute of Optoelectronics (both being large units of the Warsaw University of Technology within the Faculty of Electronics and Information Technology) combines various hardware and software contemporary technologies. In hardware it is integration of a high speed stripe projector and a stripe camera together with a standard high definition video camera. In software it is supported by sophisticated calibration techniques which enable development of advanced application such as real time 3D viewer of moving objects with the free viewpoint or 3D modeller for still objects.

scholarly journals Investigation of Flexure Effect on Transfer Alignment Performance

2012 ◽  
Vol 66 (1) ◽  
pp. 1-15 ◽  
Author(s):  
A. Güray Pehlivanoğlu ◽  
Yücel Ercan
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Military Aircraft ◽  
Transfer Alignment ◽  
Improved Performance ◽  
Short Time ◽  
Circular Error Probable

Transfer Alignment (TA) is the initialisation process of the Inertial Navigation System (INS) of an air-launched weapon before its release by using the data from the aircraft INS. The aim of this paper is to improve the TA performance by taking into account the aircraft flexures deterministically. The developed procedure neither requires captive carry tests for determination of flexures nor increases the size of the problem, and can be used in real-time missions of any type of military aircraft. The procedure is evaluated for the Velocity Match (VM) method as well as the Velocity and Attitude Match (VAM) method, which are applied through a Kalman Filter (KF). Using a short-time Wing-Rock (WR) manoeuvre, the results of both methods are compared to each other for two cases in which either the flexures are taken into account deterministically, or modelled as noise by assuming that they are unknown. Standard deviations of the errors and the Circular Error Probable (CEP) variations have shown that the TA performance of the VAM method can be much improved if aircraft flexures are incorporated deterministically into the method. The improved performance makes possible target of opportunity missions at shorter weapon ranges, and it decreases target strike errors.

A new method for QRS detection in ECG signals using QRS-preserving filtering techniques

2018 ◽  
Vol 63 (2) ◽  
pp. 207-217 ◽  
Author(s):  
Tanushree Sharma ◽  
Kamalesh K. Sharma
Keyword(s):  
Real Time ◽  
Wavelet Transforms ◽  
State Of The Art ◽  
Qrs Detection ◽  
Detection Techniques ◽  
Ecg Signals ◽  
Mode Decomposition ◽  
Improved Performance ◽  
Better Than

AbstractDetection of QRS complexes in ECG signals is required for various purposes such as determination of heart rate, feature extraction and classification. The problem of automatic QRS detection in ECG signals is complicated by the presence of noise spectrally overlapping with the QRS frequency range. As a solution to this problem, we propose the use of least-squares-optimisation-based smoothing techniques that suppress the noise peaks in the ECG while preserving the QRS complexes. We also propose a novel nonlinear transformation technique that is applied after the smoothing operations, which equalises the QRS amplitudes without boosting the supressed noise peaks. After these preprocessing operations, the R-peaks can finally be detected with high accuracy. The proposed technique has a low computational load and, therefore, it can be used for real-time QRS detection in a wearable device such as a Holter monitor or for fast offline QRS detection. The offline and real-time versions of the proposed technique have been evaluated on the standard MIT-BIH database. The offline implementation is found to perform better than state-of-the-art techniques based on wavelet transforms, empirical mode decomposition, etc. and the real-time implementation also shows improved performance over existing real-time QRS detection techniques.

Determination of the lattice translation across {110} APBs in GaAs

1988 ◽  
Vol 46 ◽  
pp. 600-601
Author(s):  
D.R. Rasmussen ◽  
N.-H. Cho ◽  
C.B. Carter
Keyword(s):  
Grain Boundaries ◽  
Lower Energy ◽  
Antiphase Boundary ◽  
The Other ◽  
Boundary Structure ◽  
Interface Plane ◽  
Inversion Symmetry ◽  
High Angle ◽  
Equilibrium Distance

Domains in GaAs can exist which are related to one another by the inversion symmetry, i.e., the sites of gallium and arsenic in one domain are interchanged in the other domain. The boundary between these two different domains is known as an antiphase boundary [1], In the terminology used to describe grain boundaries, the grains on either side of this boundary can be regarded as being Σ=1-related. For the {110} interface plane, in particular, there are equal numbers of GaGa and As-As anti-site bonds across the interface. The equilibrium distance between two atoms of the same kind crossing the boundary is expected to be different from the length of normal GaAs bonds in the bulk. Therefore, the relative position of each grain on either side of an APB may be translated such that the boundary can have a lower energy situation. This translation does not affect the perfect Σ=1 coincidence site relationship. Such a lattice translation is expected for all high-angle grain boundaries as a way of relaxation of the boundary structure.

Determination of the Burgers vector of a dislocation in a Fe-Mn alloy by weak-beam image in HVEM

1978 ◽  
Vol 36 (1) ◽  
pp. 330-331
Author(s):  
Y. Ishida ◽  
H. Ishida ◽  
K. Kohra ◽  
H. Ichinose
Keyword(s):  
High Order ◽  
Simulation Technique ◽  
The Other ◽  
Image Simulation ◽  
Diffraction Vector ◽  
Burgers Vector ◽  
Weak Beam ◽  
Beam Image ◽  
Edge Component

IntroductionA simple and accurate technique to determine the Burgers vector of a dislocation has become feasible with the advent of HVEM. The conventional image vanishing technique(1) using Bragg conditions with the diffraction vector perpendicular to the Burgers vector suffers from various drawbacks; The dislocation image appears even when the g.b = 0 criterion is satisfied, if the edge component of the dislocation is large. On the other hand, the image disappears for certain high order diffractions even when g.b ≠ 0. Furthermore, the determination of the magnitude of the Burgers vector is not easy with the criterion. Recent image simulation technique is free from the ambiguities but require too many parameters for the computation. The weak-beam “fringe counting” technique investigated in the present study is immune from the problems. Even the magnitude of the Burgers vector is determined from the number of the terminating thickness fringes at the exit of the dislocation in wedge shaped foil surfaces.

Computer-Assisted High-Re Solution TEM

1990 ◽  
Vol 48 (1) ◽  
pp. 162-163
Author(s):  
F.A. Ponce ◽  
H. Hikashi
Keyword(s):  
Signal To Noise Ratio ◽  
Accurate Determination ◽  
Computer Software ◽  
Video Camera ◽  
Image Contrast ◽  
Objective Lens ◽  
Computer Assisted ◽  
Optical Parameters ◽  
Astigmatism Correction

The determination of the atomic positions from HRTEM micrographs is only possible if the optical parameters are known to a certain accuracy, and reliable through-focus series are available to match the experimental images with calculated images of possible atomic models. The main limitation in interpreting images at the atomic level is the knowledge of the optical parameters such as beam alignment, astigmatism correction and defocus value. Under ordinary conditions, the uncertainty in these values is sufficiently large to prevent the accurate determination of the atomic positions. Therefore, in order to achieve the resolution power of the microscope (under 0.2nm) it is necessary to take extraordinary measures. The use of on line computers has been proposed [e.g.: 2-5] and used with certain amount of success.We have built a system that can perform operations in the range of one frame stored and analyzed per second. A schematic diagram of the system is shown in figure 1. A JEOL 4000EX microscope equipped with an external computer interface is directly linked to a SUN-3 computer. All electrical parameters in the microscope can be changed via this interface by the use of a set of commands. The image is received from a video camera. A commercial image processor improves the signal-to-noise ratio by recursively averaging with a time constant, usually set at 0.25 sec. The computer software is based on a multi-window system and is entirely mouse-driven. All operations can be performed by clicking the mouse on the appropiate windows and buttons. This capability leads to extreme friendliness, ease of operation, and high operator speeds. Image analysis can be done in various ways. Here, we have measured the image contrast and used it to optimize certain parameters. The system is designed to have instant access to: (a) x- and y- alignment coils, (b) x- and y- astigmatism correction coils, and (c) objective lens current. The algorithm is shown in figure 2. Figure 3 shows an example taken from a thin CdTe crystal. The image contrast is displayed for changing objective lens current (defocus value). The display is calibrated in angstroms. Images are stored on the disk and are accessible by clicking the data points in the graph. Some of the frame-store images are displayed in Fig. 4.

Procedures for the Quantitative Determination of Autoprothrombin C

1962 ◽  
Vol 08 (03) ◽  
pp. 434-441 ◽  
Author(s):  
Edmond R Cole ◽  
Ewa Marciniak ◽  
Walter H Seegers
Keyword(s):  
Quantitative Determination ◽  
Plasma Sample ◽  
Quantitative Measure ◽  
The Other ◽  
Clotting Time ◽  
Bovine Plasma ◽  
Autoprothrombin C

SummaryTwo quantitative procedures for autoprothrombin C are described. In one of these purified prothrombin is used as a substrate, and the activity of autoprothrombin C can be measured even if thrombin is in the preparation. In this procedure a reaction mixture is used wherein the thrombin titer which develops in 20 minutes is proportional to the autoprothrombin C in the reaction mixture. A unit is defined as the amount which will generate 70 units of thrombin in the standardized reaction mixture. In the other method thrombin interferes with the result, because a standard bovine plasma sample is recalcified and the clotting time is noted. Autoprothrombin C shortens the clotting time, and the extent of this is a quantitative measure of autoprothrombin C activity.

Determination of Factor XIII Activity and of Factor XIII Inhibitors Using an Ammonium-Sensitive Electrode

1983 ◽  
Vol 50 (02) ◽  
pp. 563-566 ◽  
Author(s):  
P Hellstern ◽  
K Schilz ◽  
G von Blohn ◽  
E Wenzel
Keyword(s):  
Factor Xiii ◽  
Normal Subjects ◽  
The Other ◽  
Activity Measurement ◽  
Factor Xiii Deficiency ◽  
Assay Procedure ◽  
Stabilization Factor ◽  
Release Method ◽  
Sensitive Electrode

SummaryAn assay for rapid factor XIII activity measurement has been developed based on the determination of the ammonium released during fibrin stabilization. Factor XIII was activated by thrombin and calcium. Ammonium was measured by an ammonium-sensitive electrode. It was demonstrated that the assay procedure yields accurate and precise results and that factor XIII-catalyzed fibrin stabilization can be measured kinetically. The amount of ammonium released during the first 90 min of fibrin stabilization was found to be 7.8 ± 0.5 moles per mole fibrinogen, which is in agreement with the findings of other authors. In 15 normal subjects and in 15 patients suffering from diseases with suspected factor XIII deficiency there was a satisfactory correlation between the results obtained by the “ammonium-release-method”, Bohn’s method, and the immunological assay (r1 = 0.65; r2= 0.70; p<0.01). In 3 of 5 patients with paraproteinemias the values of factor XIII activity determined by the ammonium-release method were markedly lower than those estimated by the other methods. It could be shown that inhibitor mechanisms were responsible for these discrepancies.

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