Corrupted MP4 carving using MP4-karver

The usage of digital video is rapidly increasing recently. The analog CCTV systems are replaced by digital systems. Moreover, digital cameras and smartphones are increasingly popular and becoming affordable. The criminals use these digital devices; particularly smartphones to record crimes such as child pornography and other violent activities. Many at times, these videos are altered or deleted by the criminals in order to avoid persecution by the law enforcement. In digital forensic, carvings of deleted, damaged video files have an important role in searching for evidence. Therefore, many existing tools and techniques such as Scalpel’s, PhotoRec, Bi-Fragment Gap Carving (BGC), Smart Carving and Frame Based Carving attempt to carve the videos files, but some of the carved videos files are usually corrupted or damaged and not playable. However, there is still room for improvement in repair corrupted MP4 videos to make it playable. In this research, MP4-Karver tool is proposed to carve and repair the corrupted MP4 videos. MP4-Karver is developed by using visual studio platform in C# programming language. The proposed MP4-Karver tool focuses on carving, repair corrupted MP4 videos and getting a higher successful rate of playable MP4 video file format. The experimental result shows that the proposed MP4-Karver tool increases the restoration carving and repairing of MP4 corrupted videos with average of 97% improvement as compared to PhotoRec and Scalpel. The MP4-Karver tool is a good alternative for MP4 videos restoration and repairing damaged videos as compared to other tools and techniques

Feasibility study on robot off-line programming and simulation using matlab tools; simmechanics and simulink packages

Since 19th century, the development of robot in manufacturing industry have been increased rapidly, thus require the need to track down the historical development of robots by robot manufacturers that brings the robot function like todays. Due to demand, robot is said to be replacing human labour because of some factors such as its capability to do work effectively, reducing cost and task that human cannot do. In this research, a feasible study on robot off-line programming and simulation using MATLAB SimMechanics and Simulink packages will be the main objective. This project will be addressing about the development of robot modeling and simulation in the SimMechanics. It is aimed that this approach will be helping the academician and researchers in the related field because MATLAB is widely used in the world in various application. The result of this project shows that it is possible to do programming and 3D simulation using SimMechanics in order to obtain mechanical variables such as joint angle, angular acceleration, reaction force, and torque including draws the respective 3D robot motion that are programmed. SpaceLib program is then used to obtain the desired location and program each robot link to the respective coordinate system in matrix form

KCT: a MATLAB toolbox for motion control of KUKA robot manipulators

Abstract—The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, developed to offer an intuitive and high-level programming interface to the user. The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP. KCT includes more than 30 functions, spanning operations such as forward and inverse kinematics computation, point-to-point joint and Cartesian control, trajectory generation, graphical display and diagnostics. The flexibility, ease of use and reliability of the toolbox is demonstrated through two applicative examples. I

Implementation of a Surgical Robot Dynamical Simulation and Motion Planning Framework

The daVinci Research Kit (dVRK) is a research platform that consists of the clinical daVinci surgical robot, provided by Intuitive Surgical to Academic Institutions. It provides an open source software and hardware platform for researchers to study and analyze the current architecture and expand the capabilities of the existing technology. The line between general purpose robotics and medical robotics has segregated the two fields. A significant part of the segregation lies at the software end, where new tools and methods developed in general purpose robotics cannot make it to medical robotics in a short amount of time. This research focuses on the integration of a widely used software architecture for general purpose robotics with the dVRK with the hope of utilizing the research and development from one field to the other. As a first step towards this bridging, a motion planning framework and a dynamic simulator has been developed for the dVRK using ROS. The motion planning framework is aimed to assist the surgeon in performing task with additional safety and machine intelligence. A few use cases have been proposed as well. Lastly, a Matlab Interface has been developed that is standalone in terms of usage and provides capabilities to interact with dVRK

Enhanced online programming for industrial robots

The use of robots and automation levels in the industrial sector is expected to grow, and is driven by the on-going need for lower costs and enhanced productivity. The manufacturing industry continues to seek ways of realizing enhanced production, and the programming of articulated production robots has been identified as a major area for improvement. However, realizing this automation level increase requires capable programming and control technologies. Many industries employ offline-programming which operates within a manually controlled and specific work environment. This is especially true within the high-volume automotive industry, particularly in high-speed assembly and component handling. For small-batch manufacturing and small to medium-sized enterprises, online programming continues to play an important role, but the complexity of programming remains a major obstacle for automation using industrial robots. Scenarios that rely on manual data input based on real world obstructions require that entire production systems cease for significant time periods while data is being manipulated, leading to financial losses. The application of simulation tools generate discrete portions of the total robot trajectories, while requiring manual inputs to link paths associated with different activities. Human input is also required to correct inaccuracies and errors resulting from unknowns and falsehoods in the environment. This study developed a new supported online robot programming approach, which is implemented as a robot control program. By applying online and offline programming in addition to appropriate manual robot control techniques, disadvantages such as manual pre-processing times and production downtimes have been either reduced or completely eliminated. The industrial requirements were evaluated considering modern manufacturing aspects. A cell-based Voronoi generation algorithm within a probabilistic world model has been introduced, together with a trajectory planner and an appropriate human machine interface. The robot programs so achieved are comparable to manually programmed robot programs and the results for a Mitsubishi RV-2AJ five-axis industrial robot are presented. Automated workspace analysis techniques and trajectory smoothing are used to accomplish this. The new robot control program considers the working production environment as a single and complete workspace. Non-productive time is required, but unlike previously reported approaches, this is achieved automatically and in a timely manner. As such, the actual cell-learning time is minimal

Migration de lois de contrôle d'un environnement de simulation vers un cadre d'application robotique

Le prototypage rapide de contrôleur (PRC) est largement utilisé dans le milieu de la recherche pour sa facilité d'utilisation. L'utilisation d'un cadre d'application robotique (CAR) apporte une grande flexibilité mais demande un investissement important pour la programmation, ce qui n'est pas toujours souhaitable dans l'univers de la recherche. Combiner les deux stratégies en faisant migrer des lois de contrôle d'un environnement de PRC vers un CAR permet d'accélérer le processus de développement tout en conservant une grande flexibilité. Ce mémoire propose un protocole de migration qui permet cette combinaison. Le développement de ce protocole, son guide d'utilisation ainsi que son évaluation sont présentés dans ce document. Un exemple d'utilisation du protocole de migration est illustré à l'aide de la migration d'un contrôleur à couple précalculé pour un robot planaire à deux degrés de liberté. Cette migration est effectuée à partir d'un environnement de PRC composé de la chaîne d'outils Matlab / Simulink / RTW. Le contrôleur généré est encapsulé dans une bibliothèque partagée puis intégré au CAR Microb. La bibliothèque partagée peut être générée pour Windows XP ou pour QNX. Les résultats obtenus montrent que le processus de migration est viable et prometteur

Design of a robotic arm for laboratory simulations of spacecraft proximity navigation and docking

The main goal of this thesis is the development of a robot manipulator for the simulation of close approach orbital maneuvers, with particular attention to docking and capture. This project tries to propose a viable alternative to huge and costly RvD structures. The final robot is able to simulate RvDs inside a spherical working space of 1.3 m radius, with a total mass of just 7.5 k

An Asynchronous Simulation Framework for Multi-User Interactive Collaboration: Application to Robot-Assisted Surgery

The field of surgery is continually evolving as there is always room for improvement in the post-operative health of the patient as well as the comfort of the Operating Room (OR) team. While the success of surgery is contingent upon the skills of the surgeon and the OR team, the use of specialized robots has shown to improve surgery-related outcomes in some cases. These outcomes are currently measured using a wide variety of metrics that include patient pain and recovery, surgeon’s comfort, duration of the operation and the cost of the procedure. There is a need for additional research to better understand the optimal criteria for benchmarking surgical performance. Presently, surgeons are trained to perform robot-assisted surgeries using interactive simulators. However, in the absence of well-defined performance standards, these simulators focus primarily on the simulation of the operative scene and not the complexities associated with multiple inputs to a real-world surgical procedure. Because interactive simulators are typically designed for specific robots that perform a small number of tasks controlled by a single user, they are inflexible in terms of their portability to different robots and the inclusion of multiple operators (e.g., nurses, medical assistants). Additionally, while most simulators provide high-quality visuals, simplification techniques are often employed to avoid stability issues for physics computation, contact dynamics and multi-manual interaction. This study addresses the limitations of existing simulators by outlining various specifications required to develop techniques that mimic real-world interactions and collaboration. Moreover, this study focuses on the inclusion of distributed control, shared task allocation and assistive feedback -- through machine learning, secondary and tertiary operators -- alongside the primary human operator