A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriat

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 217, March 1981

Approximately 130 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1981 are included in this bibliography. Topics include aerospace medicine and biology

Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint’s angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 182, July 1978

This bibliography lists 165 reports, articles, and other documents introduced into the NASA scientific and technical information system in June 1978

Monitoring muscle fatigue following continuous load changes

Department of Human Factors EngineeringPrevious studies related to monitoring muscle fatigue during dynamic motion have focused on detecting the accumulation of muscle fatigue. However, it is necessary to detect both accumulation and recovery of muscle fatigue in dynamic muscle contraction while muscle load changes continuously. This study aims to investigate the development and recovery of muscle fatigue in dynamic muscle contraction conditions following continuous load changes. Twenty healthy males conducted repetitive elbow flexion and extension using 2kg and 1kg dumbbell, by turns. They performed the two tasks of different intensity (2kg intensity task, 1kg intensity task) alternately until they felt they could no longer achieve the required movement range or until they experienced unacceptable biceps muscle discomfort. Meanwhile, using EMG signal of biceps brachii muscle, fatigue detections were performed from both dynamic measurements during each dynamic muscle contraction task and isometric measurements during isometric muscle contraction right before and after each task. In each of 2kg and 1kg intensity tasks, pre, post and change value of EMG amplitude (AEMG) and center frequency were computed respectively. They were compared to check the validity of the muscle fatigue monitoring method using Wavelet transform with EMG signal from dynamic measurements. As a result, a decrease of center frequency in 2kg intensity tasks and an increase of center frequency in 1kg intensity tasks were detected. It shows that development and recovery of muscle fatigue were detected in 2kg and 1kg intensity tasks, respectively. Also, the tendency of change value of center frequency from dynamic measurements were corresponded with that from isometric measurements. It suggests that monitoring muscle fatigue in dynamic muscle contraction conditions using wavelet transform was valid to detect the development and recovery of muscle fatigue continuously. The result also shows the possibility of monitoring muscle fatigue in real-time in industry and it could propose a guideline in designing a human-robot interaction system based on monitoring user's muscle fatigue.clos

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Introducing a novel mesh following technique for approximation-free robotic tool path trajectories

Modern tools for designing and manufacturing of large components with complex geometries allow more flexible production with reduced cycle times. This is achieved through a combination of traditional subtractive approaches and new additive manufacturing processes. The problem of generating optimum tool-paths to perform specific actions (e.g. part manufacturing or inspection) on curved surface samples, through numerical control machinery or robotic manipulators, will be increasingly encountered. Part variability often precludes using original design CAD data directly for toolpath generation (especially for composite materials), instead surface mapping software is often used to generate tessellated models. However, such models differ from precise analytical models and are often not suitable to be used in current commercially available path-planning software, since they require formats where the geometrical entities are mathematically represented thus introducing approximation errors which propagate into the generated toolpath. This work adopts a fundamentally different approach to such surface mapping and presents a novel Mesh Following Technique (MFT) for the generation of tool-paths directly from tessellated models. The technique does not introduce any approximation and allows smoother and more accurate surface following tool-paths to be generated. The background mathematics to the new MFT algorithm are introduced and the algorithm is validated by testing through an application example. Comparative metrology experiments were undertaken to assess the tracking performance of the MFT algorithms, compared to tool-paths generated through commercial software. It is shown that the MFT tool-paths produced 40% smaller errors and up to 66% lower dispersion around the mean values