Image-to-space path planning for a SCARA manipulator with single color camera

Robotica ◽  
2003 ◽  
Vol 21 (3) ◽  
pp. 245-254 ◽  
Author(s):  
José F. Reyes ◽  
Luciano E. Chiang
Keyword(s):  
Path Planning ◽  
Low Cost ◽  
Image Plane ◽  
Software Implementation ◽  
Light Conditions ◽  
Commercial Technology ◽  
Structured Objects ◽  
Calibration Accuracy ◽  
Step Algorithm

This paper presents a methodology for image-to-space path planning of a SCARA manipulator with a single static color camera. The method proposes a two step algorithm for estimating object position on the image plane and then mapping into space to find required angular values of the manipulator joints. Tests were carried with a computational routine to estimate position on the image plane of a set of different fruits under natural light conditions. Finally the method was tested using a robotic arm and similarly structured objects. Hardware and software implementation of the present method is of low cost when compared to current commercial technology, and operational results are promising but dependent on environmental illumination control and camera calibration accuracy. The methodology is intended to be applied in the automatic classification of fruits.

scholarly journals Classification of Prolapsed Mitral Valve versus Healthy Heart from Phonocardiograms by Multifractal Analysis

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Ana Gavrovska ◽  
Goran Zajić ◽  
Irini Reljin ◽  
Branimir Reljin
Keyword(s):  
Mitral Valve ◽  
Multifractal Analysis ◽  
Low Cost ◽  
Automatic Detection ◽  
Multifractal Spectrum ◽  
Mitral Valves ◽  
Step Algorithm ◽  
Prolapsed Mitral Valve ◽  
Aided Diagnosis

Phonocardiography has shown a great potential for developing low-cost computer-aided diagnosis systems for cardiovascular monitoring. So far, most of the work reported regarding cardiosignal analysis using multifractals is oriented towards heartbeat dynamics. This paper represents a step towards automatic detection of one of the most common pathological syndromes, so-called mitral valve prolapse (MVP), using phonocardiograms and multifractal analysis. Subtle features characteristic for MVP in phonocardiograms may be difficult to detect. The approach for revealing such features should be locally based rather than globally based. Nevertheless, if their appearances are specific and frequent, they can affect a multifractal spectrum. This has been the case in our experiment with the click syndrome. Totally, 117 pediatric phonocardiographic recordings (PCGs), 8 seconds long each, obtained from 117 patients were used for PMV automatic detection. We propose a two-step algorithm to distinguish PCGs that belong to children with healthy hearts and children with prolapsed mitral valves (PMVs). Obtained results show high accuracy of the method. We achieved 96.91% accuracy on the dataset (97 recordings). Additionally, 90% accuracy is achieved for the evaluation dataset (20 recordings). Content of the datasets is confirmed by the echocardiographic screening.

scholarly journals Quantification and Classification of Diclofenac Sodium Content in Dispersed Commercially Available Tablets by Attenuated Total Reflection Infrared Spectroscopy and Multivariate Data Analysis

2021 ◽  
Vol 14 (5) ◽  
pp. 440
Author(s):  
Eirini Siozou ◽  
Vasilios Sakkas ◽  
Nikolaos Kourkoumelis
Keyword(s):  
Infrared Spectroscopy ◽  
Low Cost ◽  
Diclofenac Sodium ◽  
Reference Method ◽  
Sodium Content ◽  
Attenuated Total Reflection ◽  
Accuracy And Precision ◽  
Significant Difference ◽  
Ft Ir

A new methodology, based on Fourier transform infrared spectroscopy equipped with an attenuated total reflectance accessory (ATR FT-IR), was developed for the determination of diclofenac sodium (DS) in dispersed commercially available tablets using chemometric tools such as partial least squares (PLS) coupled with discriminant analysis (PLS-DA). The results of PLS-DA depicted a perfect classification of the tablets into three different groups based on their DS concentrations, while the developed model with PLS had a sufficiently low root mean square error (RMSE) for the prediction of the samples’ concentration (~5%) and therefore can be practically used for any tablet with an unknown concentration of DS. Comparison with ultraviolet/visible (UV/Vis) spectrophotometry as the reference method revealed no significant difference between the two methods. The proposed methodology exhibited satisfactory results in terms of both accuracy and precision while being rapid, simple and of low cost.

scholarly journals Feasibility of Using VIS/NIR Spectroscopy and Multivariate Analysis for Pesticide Residue Detection in Tomatoes

Processes ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 196
Author(s):  
Araz Soltani Nazarloo ◽  
Vali Rasooli Sharabiani ◽  
Yousef Abbaspour Gilandeh ◽  
Ebrahim Taghinezhad ◽  
Mariusz Szymanek ◽  
...  
Keyword(s):  
Near Infrared ◽  
Cross Validation ◽  
Low Cost ◽  
Moving Average ◽  
Nir Spectroscopy ◽  
Control Treatment ◽  
Residue Detection ◽  
Non Destructive ◽  
Reflective Spectroscopy

The purpose of this work was to investigate the detection of the pesticide residual (profenofos) in tomatoes by using visible/near-infrared spectroscopy. Therefore, the experiments were performed on 180 tomato samples with different percentages of profenofos pesticide (higher and lower values than the maximum residual limit (MRL)) as compared to the control (no pesticide). VIS/near infrared (NIR) spectral data from pesticide solution and non-pesticide tomato samples (used as control treatment) impregnated with different concentrations of pesticide in the range of 400 to 1050 nm were recorded by a spectrometer. For classification of tomatoes with pesticide content at lower and higher levels of MRL as healthy and unhealthy samples, we used different spectral pre-processing methods with partial least squares discriminant analysis (PLS-DA) models. The Smoothing Moving Average pre-processing method with the standard error of cross validation (SECV) = 4.2767 was selected as the best model for this study. In addition, in the calibration and prediction sets, the percentages of total correctly classified samples were 90 and 91.66%, respectively. Therefore, it can be concluded that reflective spectroscopy (VIS/NIR) can be used as a non-destructive, low-cost, and rapid technique to control the health of tomatoes impregnated with profenofos pesticide.

scholarly journals FIWARE based low-cost wireless acoustic sensor network for monitoring and classification of urban soundscape

2021 ◽  
pp. 108199
Author(s):  
Pau Arce ◽  
David Salvo ◽  
Gema Piñero ◽  
Alberto Gonzalez
Keyword(s):  
Sensor Network ◽  
Low Cost ◽  
Acoustic Sensor

scholarly journals A Machine Vision Approach for Bioreactor Foam Sensing

2021 ◽  
pp. 247263032110088
Author(s):  
Jonas Austerjost ◽  
Robert Söldner ◽  
Christoffer Edlund ◽  
Johan Trygg ◽  
David Pollard ◽  
...  
Keyword(s):  
Machine Learning ◽  
Machine Vision ◽  
State Of The Art ◽  
Low Cost ◽  
High Accuracy ◽  
Consumer Electronics ◽  
Learning System ◽  
Automotive Applications ◽  
Fine Grained

Machine vision is a powerful technology that has become increasingly popular and accurate during the last decade due to rapid advances in the field of machine learning. The majority of machine vision applications are currently found in consumer electronics, automotive applications, and quality control, yet the potential for bioprocessing applications is tremendous. For instance, detecting and controlling foam emergence is important for all upstream bioprocesses, but the lack of robust foam sensing often leads to batch failures from foam-outs or overaddition of antifoam agents. Here, we report a new low-cost, flexible, and reliable foam sensor concept for bioreactor applications. The concept applies convolutional neural networks (CNNs), a state-of-the-art machine learning system for image processing. The implemented method shows high accuracy for both binary foam detection (foam/no foam) and fine-grained classification of foam levels.

scholarly journals Detection & Classification of Cardiac Arrhythmia

2017 ◽  
Vol 6 (1) ◽  
pp. 31
Author(s):  
Chetan M. Jadhav ◽  
V. K. Bairagi
Keyword(s):  
Cardiac Arrhythmia ◽  
Early Stage ◽  
Low Cost ◽  
Simple Method ◽  
Arrhythmia Detection ◽  
Ecg Signals ◽  
Electrocardiogram Signals ◽  
Electrical Impulses ◽  
Very High

<p>The term Arrhythmia refers to any change from the normal sequence in the electrical impulses. It is also treated as abnormal heart rhythms or irregular heartbeats. The rate of growth of Cardiac Arrhythmia disease is very high &amp; its effects can be observed in any age group in society. Arrhythmia detection can be done in many ways but effective &amp; simple method for detection &amp; diagnosis of  Cardiac Arrhythmia is by doing analysis of Electrocardiogram signals from ECG sensors. ECG signal can give us the detail information of heart activities, so we can use ECG signals to detect the rhythm &amp; behaviour of heart beats resulting into detection &amp; diagnosis of Cardiac Arrhythmia. In this paper new &amp; improved methodology for early Detection &amp; Classification of Cardiac Arrhythmia has been proposed. In this paper ECG signals are captured using ECG sensors &amp; this ECG signals are used &amp; processed to get the required data regarding heart beats of the human being &amp; then proposed methodology applies for Detection &amp; Classification of Cardiac Arrhythmia. Detection of Cardiac Arrhythmia using ECG signals allows us for easy &amp; reliable way with low cost solution to diagnose Arrhythmia in its prior early stage.</p>

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