scholarly journals The UJI Aerial Librarian Robot: A Quadcopter for Visual Library Inventory and Book Localisation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1079
Author(s):  
Ester Martinez-Martin ◽  
Eric Ferrer ◽  
Ilia Vasilev ◽  
Angel P. del Pobil
Keyword(s):  
Computer Vision ◽  
Control Strategy ◽  
Visual Inspection ◽  
Confined Spaces ◽  
The Past ◽  
Optical Character ◽  
Visual Markers ◽  
Routine Tasks ◽  
Quadrotor Robot ◽  
Recognition Technique

Over time, the field of robotics has provided solutions to automate routine tasks in different scenarios. In particular, libraries are awakening great interest in automated tasks since they are semi-structured environments where machines coexist with humans and several repetitive operations could be automatically performed. In addition, multirotor aerial vehicles have become very popular in many applications over the past decade, however autonomous flight in confined spaces still presents a number of challenges and the use of small drones has not been reported as an automated inventory device within libraries. This paper presents the UJI aerial librarian robot that leverages computer vision techniques to autonomously self-localize and navigate in a library for automated inventory and book localization. A control strategy to navigate along the library bookcases is presented by using visual markers for self-localization during a visual inspection of bookshelves. An image-based book recognition technique is described that combines computer vision techniques to detect the tags on the book spines, followed by an optical character recognizer (OCR) to convert the book code on the tags into text. These data can be used for library inventory. Misplaced books can be automatically detected, and a particular book can be located within the library. Our quadrotor robot was tested in a real library with promising results. The problems encountered and limitation of the system are discussed, along with its relation to similar applications, such as automated inventory in warehouses.

scholarly journals A review of computer vision-based approaches for physical rehabilitation and assessment

2021 ◽  
Author(s):  
Bappaditya Debnath ◽  
Mary O’Brien ◽  
Motonori Yamaguchi ◽  
Ardhendu Behera
Keyword(s):  
Computer Vision ◽  
Human Motion ◽  
Physical Rehabilitation ◽  
Human Motion Analysis ◽  
Functional Rehabilitation ◽  
Physical Impairments ◽  
The Past ◽  
Future Direction ◽  
Assessment Research ◽  
Vision Application

AbstractThe computer vision community has extensively researched the area of human motion analysis, which primarily focuses on pose estimation, activity recognition, pose or gesture recognition and so on. However for many applications, like monitoring of functional rehabilitation of patients with musculo skeletal or physical impairments, the requirement is to comparatively evaluate human motion. In this survey, we capture important literature on vision-based monitoring and physical rehabilitation that focuses on comparative evaluation of human motion during the past two decades and discuss the state of current research in this area. Unlike other reviews in this area, which are written from a clinical objective, this article presents research in this area from a computer vision application perspective. We propose our own taxonomy of computer vision-based rehabilitation and assessment research which are further divided into sub-categories to capture novelties of each research. The review discusses the challenges of this domain due to the wide ranging human motion abnormalities and difficulty in automatically assessing those abnormalities. Finally, suggestions on the future direction of research are offered.

scholarly journals Utilizing UAV and 3D Computer Vision for Visual Inspection of a Large Gravity Dam

2018 ◽  
Vol 4 ◽  
Author(s):  
Ali Khaloo ◽  
David Lattanzi ◽  
Adam Jachimowicz ◽  
Charles Devaney
Keyword(s):  
Computer Vision ◽  
Visual Inspection ◽  
Gravity Dam ◽  
3D Computer Vision

A Comparison of Orthogonal Transforms in Engineering Computer Vision

1990 ◽  
Vol 204 (5) ◽  
pp. 321-327 ◽  
Author(s):  
G A H Al-Kindi ◽  
R M Baul ◽  
K F Gill
Keyword(s):  
Computer Vision ◽  
Machine Vision ◽  
Visual Inspection ◽  
Computational Time ◽  
Transform Coefficients ◽  
Orthogonal Transforms ◽  
The Impact

A comparison of a number of commonly used orthogonal transforms, when applied to the recognition and visual inspection of engineering components, has been made. The impact on the performance and computational time for the machine vision process due to varying numbers of transform coefficients is assessed.

BILATERAL NEPHROBLASTOMA (WILMS' TUMOR)

PEDIATRICS ◽  
1961 ◽  
Vol 28 (1) ◽  
pp. 101-106
Author(s):  
Lester W. Martin ◽  
Richard J. Kloecker
Keyword(s):  
Visual Inspection ◽  
Radical Surgery ◽  
Wilms Tumor ◽  
Surgical Removal ◽  
Transperitoneal Approach ◽  
Bilateral Involvement ◽  
The Past

Three cases of bilateral nephroblastoma (Wilms' tumor) are reported. In all three instances, the tumor was thought to be unilateral prior to surgery. (In one instance, involvement of the opposite kidney was discovered at necropsy.) It is probable that bilateral involvement is somewhat more frequent than has been generally recognized in the past; it probably occurs in approximately 5 to 10% of the cases. Bilateral nephroblastoma does not necessarily carry a fatal prognosis, and it may be cured in a certain percentage of cases by radical surgery. The treatment of choice of bilateral nephroblastoma is surgical removal of both tumors, leaving behind at least half of one kidney. Because in many instances the bilateral involvement is not diagnosed preoperatively, it is recommended that exploration for nephroblastoma always include detailed exploration (including visual inspection) of all surfaces of the opposite kidney, through a generous transperitoneal approach.

Advanced Bridge Automation

1993 ◽  
Vol 30 (04) ◽  
pp. 276-285
Author(s):  
Edward Denham
Keyword(s):  
Human Error ◽  
Environmental Data ◽  
Management Systems ◽  
Propulsion Systems ◽  
The Past ◽  
Key Technologies ◽  
Routine Tasks ◽  
Information Management Systems ◽  
Better Than ◽  
Do So

The past thirty years have seen great advances in many areas of the technologies used in naval vessels. Propulsion systems, machinery automation, and information management systems have all undergone revolutionary changes. The bridges of these ships have similarly seen the advent of many new sources of navigational and environmental data. The process of correlating and interpreting all of this information has until now remained very labor-intensive, subject to human error at many stages of the process. In response to this challenge, a suite of new equipment has been developed for distributing, displaying, correlating, and logging shipboard data. This equipment automates most of the low-level, routine tasks involved in navigating a vessel at sea, significantly reducing the stress and workload of bridge personnel. This gives the humans on the bridge more time for doing the job that they do so much better than machines: making decisions. This paper focuses on the key technologies that are used in these new products and the advances in bridge design and automation they make possible. The benefits of these new capabilities to system designers, to shipbuilders, and to ship operators are also explored.

Randomized Hough Transform

2011 ◽  
pp. 1343-1350 ◽  
Author(s):  
Lei Xu ◽  
Erkki Oja
Keyword(s):  
Image Processing ◽  
Computer Vision ◽  
Hough Transform ◽  
Random Sampling ◽  
Computational Cost ◽  
Detection Accuracy ◽  
The Past ◽  
Randomized Hough Transform ◽  
Dynamic Storage ◽  
High Computational Cost

Proposed in 1962, the Hough transform (HT) has been widely applied and investigated for detecting curves, shapes, and motions in the fields of image processing and computer vision. However, the HT has several shortcomings, including high computational cost, low detection accuracy, vulnerability to noise, and possibility of missing objects. Many efforts target at solving some of the problems for decades, while the key idea remains more or less the same. Proposed in 1989 and further developed thereafter, the Randomized Hough Transform (RHT) manages to considerably overcome these shortcomings via innovations on the fundamental mechanisms, with random sampling in place of pixel scanning, converging mapping in place of diverging mapping, and dynamic storage in place of accumulation array. This article will provides an overview on advances and applications of RHT in the past one and half decades.

scholarly journals Special Features on Intelligent Imaging and Analysis

2019 ◽  
Vol 9 (22) ◽  
pp. 4804 ◽  
Author(s):  
Dosik Hwang ◽  
DaeEun Kim
Keyword(s):  
Computer Vision ◽  
Medical Imaging ◽  
Biomedical Applications ◽  
Visual Inspection ◽  
Research Fields ◽  
Robot Systems

Intelligent imaging and analysis have been studied in various research fields, including medical imaging, biomedical applications, computer vision, visual inspection and robot systems [...]

SYNCHRONIZATION OF IMPULSIVELY COUPLED SYSTEMS

2008 ◽  
Vol 18 (05) ◽  
pp. 1539-1549 ◽  
Author(s):  
XIUPING HAN ◽  
JUN-AN LU ◽  
XIAOQUN WU
Keyword(s):  
Dynamical Systems ◽  
Control Strategy ◽  
Impulsive Control ◽  
Coupled Model ◽  
Coupled Systems ◽  
Single System ◽  
Impulsive Synchronization ◽  
The Past ◽  
Impulsive Control Strategy ◽  
Control And Synchronization

In the past years, impulsive control for a single system and impulsive synchronization between two systems have been extensively studied. However, investigation on impulsive control and synchronization of complex networks has just started. In these studies, a network is continuously coupled, and then is synchronized by using impulsive control strategy. In this paper, a new and different coupled model is proposed, where the systems are coupled only at discrete instants through impulsive connections. Several criteria for synchronizing such kind of impulsively coupled complex dynamical systems are established. Two examples are also worked through for illustrating the main results.

scholarly journals Quasi-Sliding Networked Control of Systems Subject to Unbounded Disturbance with Limited Rate of Change

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Andrzej Bartoszewicz ◽  
Paweł Latosiński
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Rate Of Change ◽  
Networked Control ◽  
Sliding Mode Controller ◽  
System State ◽  
The Past ◽  
State Measurement ◽  
Measurement Delay

This paper concerns network based sliding mode control of linear plants with state measurement delay. The considered plants are subject to unbounded disturbance, but it is assumed that the change of disturbance value between each two subsequent sampling instants is limited. In order to combat the unpredictable disturbance in the environment with state measurement delay, a novel sliding mode controller has been introduced. It utilizes two nominal models of the plant to drive the system state along a desired trajectory and counteract the predicted effect of the past disturbance on the system. It has been proven that applying the new control strategy to the plant confines the system state to a defined band around the sliding hyperplane.

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