Compensation for Object Motion in Remote Manipulation

1993 ◽  
Vol 5 (1) ◽  
pp. 66-72
Author(s):  
Kazuo Tani ◽  
Keyword(s):  
Computer Control ◽  
Operation Time ◽  
Computation Time ◽  
Experimental System ◽  
Object Motion ◽  
Moving Object ◽  
Remote Manipulation ◽  
Control Scheme ◽  
Computer Controlled ◽  
Human Operators

The goal of this project is the proposal of the concept of master/slave control with compensation for object motion in order to facilitate the manipulation of a moving object and the evaluation of the compensation by experimentally comparing the performance of the operator. An experimental system was constructed consisting of a master/slave manipulator, a moving table for the moving object, and a computer which controls both the manipulator and table. A computer control scheme for master/ slave and compensation for object motion was developed in consideration of the kinematics and dynamics of the manipulator. The computation time in this scheme was shown to be practical and permitted a system sampling time of 50 ms. Experiments were conducted with human operators performing manipulation tasks in computer controlled master/slave. Their performance was compared in three situations: no object motion, compensation for object motion, and no compensation. The comparison of the compensation and no compensation situations showed that compensation reduced the operation time by 26-41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. However, in valve turning, significant improvement was not observed. Thus, it was concluded that compensation for object motion can significantly improve the performance of the human operator in certain kinds of tasks.

Applications of CCEM to Environmental Health Problems

1985 ◽  
Vol 43 ◽  
pp. 102-103
Author(s):  
R. J. Lee ◽  
J. S. Walker
Keyword(s):  
Electron Microscopy ◽  
Image Analysis ◽  
Environmental Health ◽  
Computer Control ◽  
External Agent ◽  
External Agents ◽  
Computer Controlled ◽  
Primitive State ◽  
Textural Changes ◽  
General Aspects

Electron microscopy (EM), with the advent of computer control and image analysis techniques, is rapidly evolving from an interpretative science into a quantitative technique. Electron microscopy is potentially of value in two general aspects of environmental health: exposure and diagnosis.In diagnosis, electron microscopy is essentially an extension of optical microscopy. The goal is to characterize cellular changes induced by external agents. The external agent could be any foreign material, chemicals, or even stress. The use of electron microscopy as a diagnostic tool is well- developed, but computer-controlled electron microscopy (CCEM) has had only limited impact, mainly because it is fairly new and many institutions lack the resources to acquire the capability. In addition, major contributions to diagnosis will come from CCEM only when image analysis (IA) and processing algorithms are developed which allow the morphological and textural changes recognized by experienced medical practioners to be quantified. The application of IA techniques to compare cellular structure is still in a primitive state.

The new CM-Series TEMs: integration of a five-axis motorized, fully computer-controlled goniometer

1993 ◽  
Vol 51 ◽  
pp. 258-259
Author(s):  
Marc J.C. de Jong ◽  
P. Emile S.J. Asselbergs ◽  
Max T. Otten
Keyword(s):  
Mechanical Design ◽  
Computer Control ◽  
Objective Lens ◽  
Access Port ◽  
Vibration Stability ◽  
Transmission Electron ◽  
Computer Controlled ◽  
High Degree ◽  
Five Axis ◽  
Five Axes

A new step forward in Transmission Electron Microscopy has been made with the introduction of the CompuStage on the CM-series TEMs: CM120, CM200, CM200 FEG and CM300. This new goniometer has motorization on five axes (X, Y, Z, α, β), all under full computer control by a dedicated microprocessor that is in communication with the main CM processor. Positions on all five axes are read out directly - not via a system counting motor revolutions - thereby providing a high degree of accuracy. The CompuStage enters the octagonal block around the specimen through a single port, allowing the specimen stage to float freely in the vacuum between the objective-lens pole pieces, thereby improving vibration stability and freeing up one access port. Improvements in the mechanical design ensure higher stability with regard to vibration and drift. During stage movement the holder O-ring no longer slides, providing higher drift stability and positioning accuracy as well as better vacuum.

MOVING CAMERA MOVING OBJECT SEGMENTATION IN COMPRESSED VIDEO SEQUENCES

2009 ◽  
Vol 09 (04) ◽  
pp. 609-627 ◽  
Author(s):  
J. WANG ◽  
N. V. PATEL ◽  
W. I. GROSKY ◽  
F. FOTOUHI
Keyword(s):  
Motion Detection ◽  
Object Segmentation ◽  
Object Motion ◽  
Moving Object ◽  
Transformation Model ◽  
Video Sequences ◽  
Compressed Domain ◽  
Camera Motion ◽  
Consistency Check ◽  
Moving Object Segmentation

In this paper, we address the problem of camera and object motion detection in the compressed domain. The estimation of camera motion and the moving object segmentation have been widely stated in a variety of context for video analysis, due to their capabilities of providing essential clues for interpreting the high-level semantics of video sequences. A novel compressed domain motion estimation and segmentation scheme is presented and applied in this paper. MPEG-2 compressed domain information, namely Motion Vectors (MV) and Discrete Cosine Transform (DCT) coefficients, is filtered and manipulated to obtain a dense and reliable Motion Vector Field (MVF) over consecutive frames. An iterative segmentation scheme based upon the generalized affine transformation model is exploited to effect the global camera motion detection. The foreground spatiotemporal objects are separated from the background using the temporal consistency check to the output of the iterative segmentation. This consistency check process can coalesce the resulting foreground blocks and weed out unqualified blocks. Illustrative examples are provided to demonstrate the efficacy of the proposed approach.

Collaborative Autonomy between High-level Behaviors and Human Operators for Remote Manipulation Tasks using Different Humanoid Robots

2016 ◽  
Vol 34 (2) ◽  
pp. 333-358 ◽  
Author(s):  
Alberto Romay ◽  
Stefan Kohlbrecher ◽  
Alexander Stumpf ◽  
Oskar von Stryk ◽  
Spyros Maniatopoulos ◽  
...  
Keyword(s):  
Humanoid Robots ◽  
Remote Manipulation ◽  
Human Operators ◽  
High Level ◽  
Collaborative Autonomy

Computer Controlled X-Ray Diffraction Measurement of Residual Stress

1972 ◽  
Vol 16 ◽  
pp. 344-353 ◽  
Author(s):  
Carol J. Kelly ◽  
E. Eichen
Keyword(s):  
Residual Stress ◽  
Computer Control ◽  
Sample Surface ◽  
Diffraction Measurement ◽  
X Ray Diffraction ◽  
X Ray ◽  
Intensity Measurements ◽  
On Line ◽  
Computer Controlled ◽  
The Difference

AbstractThe system to be described includes hardware and software for the on-line computer control of the X-ray diffraction measurement of residual stress. This determination involves accurately measuring the angles at which a back-reflection line is diffracted, first by diffracting planes parallel to the sample surface, and then by planes at an angle (ψ) to the sample surface. The residual stress is calculated from the difference in the two measured diffraetion angles. The procedure executed by the computer consists of locating the peaks, selecting three angles for collection of X-ray counts, correcting the measured counts, fitting the equi-angular intensity measurements to a three-point parabola, calculating the peak angles, calculating the residual stress from the measured angles and typing a report. This automation has eliminated the tedium of the manual X-ray data accumulation and of the residual stress calculation. The online control has also permitted improvements in the technique not practicable with the manually performed measurement of residual stress.

scholarly journals Moving Object Detection Using an Object Motion Reflection Model of Motion Vectors

Symmetry ◽  
2019 ◽  
Vol 11 (1) ◽  
pp. 34 ◽  
Author(s):  
Jisang Yoo ◽  
Gyu-cheol Lee
Keyword(s):  
Object Detection ◽  
Moving Objects ◽  
Probability Model ◽  
Motion Vector ◽  
Moving Object Detection ◽  
Object Motion ◽  
Moving Object ◽  
Disparity Map ◽  
Motion Vectors ◽  
Reflection Model

Moving object detection task can be solved by the background subtraction algorithm if the camera is fixed. However, because the background moves, detecting moving objects in a moving car is a difficult problem. There were attempts to detect moving objects using LiDAR or stereo cameras, but when the car moved, the detection rate decreased. We propose a moving object detection algorithm using an object motion reflection model of motion vectors. The proposed method first obtains the disparity map by searching the corresponding region between stereo images. Then, we estimate road by applying v-disparity method to the disparity map. The optical flow is used to acquire the motion vectors of symmetric pixels between adjacent frames where the road has been removed. We designed a probability model of how much the local motion is reflected in the motion vector to determine if the object is moving. We have experimented with the proposed method on two datasets, and confirmed that the proposed method detects moving objects with higher accuracy than other methods.

Computer Controlled System for Study of Pulsed Hollow Cathode Lamps

1976 ◽  
Vol 30 (4) ◽  
pp. 415-422 ◽  
Author(s):  
E. R. Johnson ◽  
C. K. Mann ◽  
T. J. Vickers
Keyword(s):  
Hollow Cathode ◽  
Computer Control ◽  
Optimization Technique ◽  
Operating Characteristics ◽  
Surface Mapping ◽  
Controlled System ◽  
Peak Intensity ◽  
Rapid Accumulation ◽  
Computer Controlled ◽  
The One

A system for complete computer control of the important current waveform variables in the operation of pulsed hollow cathode lamps is described and characterized. The system is shown to provide a highly flexible approach for the rapid accumulation of data on lamp operating characteristics. By implementing a simplex optimization technique with the system, it is shown that a selected lamp response (average peak intensity or integrated peak intensity) can be observed as a function of one variable, while all other variables are at values which result in an optimized response. This procedure, which probably could not be carried out without a closed loop system such as that described, avoids the potential difficulties of the one-factor-at-a-time approach. Results are reported for optimization studies of two iron hollow cathode lamps, for a response surface mapping experiment, and for examination of the pulse shapes of iron, calcium, vanadium, and aluminum hollow cathode lamps.

scholarly journals Ludwig: A Training Simulator of the Safety Operation of a CANDU Reactor

2011 ◽  
Vol 2011 ◽  
pp. 1-8
Author(s):  
Gustavo Boroni ◽  
Alejandro Clausse
Keyword(s):  
Power Plant ◽  
Nuclear Power ◽  
Engineering Students ◽  
Computer Control ◽  
Object Oriented Programming ◽  
Primary Circuit ◽  
Control Panel ◽  
Training Simulator ◽  
Human Operators ◽  
Safety Operation

This paper presents the applicationLudwigdesigned to train operators of a CANDU Nuclear Power Plant (NPP) by means of a computer control panel that simulates the response of the evolution of the physical variables of the plant under normal transients. The model includes a close set of equations representing the principal components of a CANDU NPP plant, a nodalized primary circuit, core, pressurizer, and steam generators. The design of the application was performed using the object-oriented programming paradigm, incorporating an event-driven process to reflect the action of the human operators and the automatic control system. A comprehensive set of online graphical displays are provided giving an in-depth understanding of transient neutronic and thermal hydraulic response of the power plant. The model was validated against data from a real transient occurring in the Argentine NPP Embalse Río Tercero, showing good agreement. However, it should be stressed that the aim of the simulator is in the training of operators and engineering students.

Small field motion detection in goldfish is red-green color blind and mediated by the M-cone type

2007 ◽  
Vol 24 (3) ◽  
pp. 399-407 ◽  
Author(s):  
MARTIN GEHRES ◽  
CHRISTA NEUMEYER
Keyword(s):  
Motion Detection ◽  
Object Motion ◽  
Moving Object ◽  
Large Field ◽  
Training Procedure ◽  
Green Color ◽  
Cone Type ◽  
Color Blind ◽  
Random Dot Patterns ◽  
Random Dot Pattern

Large field motion detection in goldfish, measured in the optomotor response, is based on the L-cone type, and is therefore color-blind (Schaerer & Neumeyer, 1996). In experiments using a two-choice training procedure, we investigated now whether the same holds for the detection of a small moving object (size: 8 mm diameter; velocity: 7 cm/s). In initial experiments, we found that goldfish did not discriminate between a moving and a stationary stimulus, obviously not taking attention to the cue “moving.” Therefore, random dot patterns were used in which the stimulus was visible only when moving. Using black and white random dot patterns with variable contrast between 0.2 and 1, we found that the fish could see motion only with high (0.8) contrast. In the decisive experiment, a red-green random dot pattern was used. By keeping the intensity of the red dots constant and reducing the intensity of the green dots, a narrow intensity range was found in which goldfish could no longer discriminate between the moving random dot stimulus in random dot surround and the stationary random dot pattern. The same was the case when a red moving disk was presented in green surround. This is the evidence that object motion is red-green color blind, i.e., color information cannot be used to detect the moving object. Calculations of the cone excitation values revealed that the M-cone type is decisive, as this cone type (and not the L-cone type) is not modulated by that particular red-green pattern in which the moving stimulus was invisible.

Time-Resolved Constant-Energy Synchronous Phosphorimetry

1988 ◽  
Vol 42 (6) ◽  
pp. 1112-1117 ◽  
Author(s):  
Javier J. Laserna ◽  
Michael A. Mignardi ◽  
Ray Von Wandruska ◽  
James D. Winefordner
Keyword(s):  
Temporal Resolution ◽  
Computer Control ◽  
Electronic Control ◽  
Time Resolved ◽  
Constant Energy ◽  
Spectral Selectivity ◽  
Gate Opening ◽  
Temporal Features ◽  
Sensitivity And Selectivity ◽  
Computer Controlled

Constant-energy synchronous scanning has been combined with time resolution in order to increase the spectral selectivity in low-temperature phosphorimetry. The technique is called Time-Resolved Constant-Energy Synchronous Phosphorimetry (TRCESP). The personal computer-controlled flashlamp phosphorimeter consisted of a conventional spectrophosphorimeter with computer control of the scanning of the excitation and emission spectrometers. Temporal features such as the repetition rate, source pulse width, delay time between termination of the source pulse and the gate opening, and detector gate width were under various forms of electronic control. A discussion of the spectral resolution resulting from synchronous scanning and temporal resolution from pulsing the source and gating the detector is given. Several mixtures of phosphors are evaluated with respect to the effect of spatial resolution, temporal resolution, and combination of the two resolution approaches upon both sensitivity and selectivity measurements.

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