An INSPECT Measurement System for Moving Objects

published_or_final_versio

Multi-Agent Orbit Design For Perception Enhancement Purpose

This paper develops a robust optimization based method to design orbits on which the sensory perception of the desired physical quantities are maximized. It also demonstrates how to incorporate various constraints imposed by many spacecraft missions such as collision avoidance, co-orbital configuration, altitude and frozen orbit constraints along with Sun-Synchronous orbit. The paper specifically investigates designing orbits for constrained visual sensor planning applications as the case study. For this purpose, the key elements to form an image in such vision systems are considered and effective factors are taken into account to define a metric for perception quality. The simulation results confirm the effectiveness of the proposed method for several scenarios on low and medium Earth orbits as well as a challenging Space-Based Space Surveillance program application.Comment: 12 pages, 18 figure

Vehicle detection and tracking using homography-based plane rectification and particle filtering

This paper presents a full system for vehicle detection and tracking in non-stationary settings based on computer vision. The method proposed for vehicle detection exploits the geometrical relations between the elements in the scene so that moving objects (i.e., vehicles) can be detected by analyzing motion parallax. Namely, the homography of the road plane between successive images is computed. Most remarkably, a novel probabilistic framework based on Kalman filtering is presented for reliable and accurate homography estimation. The estimated homography is used for image alignment, which in turn allows to detect the moving vehicles in the image. Tracking of vehicles is performed on the basis of a multidimensional particle filter, which also manages the exit and entries of objects. The filter involves a mixture likelihood model that allows a better adaptation of the particles to the observed measurements. The system is specially designed for highway environments, where it has been proven to yield excellent results

Astro-WISE: Chaining to the Universe

The recent explosion of recorded digital data and its processed derivatives threatens to overwhelm researchers when analysing their experimental data or when looking up data items in archives and file systems. While current hardware developments allow to acquire, process and store 100s of terabytes of data at the cost of a modern sports car, the software systems to handle these data are lagging behind. This general problem is recognized and addressed by various scientific communities, e.g., DATAGRID/EGEE federates compute and storage power over the high-energy physical community, while the astronomical community is building an Internet geared Virtual Observatory, connecting archival data. These large projects either focus on a specific distribution aspect or aim to connect many sub-communities and have a relatively long trajectory for setting standards and a common layer. Here, we report "first light" of a very different solution to the problem initiated by a smaller astronomical IT community. It provides the abstract "scientific information layer" which integrates distributed scientific analysis with distributed processing and federated archiving and publishing. By designing new abstractions and mixing in old ones, a Science Information System with fully scalable cornerstones has been achieved, transforming data systems into knowledge systems. This break-through is facilitated by the full end-to-end linking of all dependent data items, which allows full backward chaining from the observer/researcher to the experiment. Key is the notion that information is intrinsic in nature and thus is the data acquired by a scientific experiment. The new abstraction is that software systems guide the user to that intrinsic information by forcing full backward and forward chaining in the data modelling.Comment: To be published in ADASS XVI ASP Conference Series, 2006, R. Shaw, F. Hill and D. Bell, ed

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Improved GelSight Tactile Sensor for Measuring Geometry and Slip

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor, based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in measuring surface normals and reconstructing height maps using photometric stereo. We also use it for the task of slip detection, using a combination of information about relative motions on the membrane surface and the shear distortions. Using a robotic arm and a set of 37 everyday objects with varied properties, we find that the sensor can detect translational and rotational slip in general cases, and can be used to improve the stability of the grasp.Comment: IEEE/RSJ International Conference on Intelligent Robots and System

Fuzzy logic control for camera tracking system

A concept utilizing fuzzy theory has been developed for a camera tracking system to provide support for proximity operations and traffic management around the Space Station Freedom. Fuzzy sets and fuzzy logic based reasoning are used in a control system which utilizes images from a camera and generates required pan and tilt commands to track and maintain a moving target in the camera's field of view. This control system can be implemented on a fuzzy chip to provide an intelligent sensor for autonomous operations. Capabilities of the control system can be expanded to include approach, handover to other sensors, caution and warning messages

Non-contact Microelectronic Device Inspection Systems And Methods

Non-contact microelectronic device inspection systems and methods are discussed and provided. Some embodiments include a method of generating a virtual reference device (or chip). This approach uses a statistics to find devices in a sample set that are most similar and then averages their time domain signals to generate the virtual reference. Signals associated with the virtual reference can then be correlated with time domain signals obtained from the packages under inspection to obtain a quality signature. Defective and non-defective devices are separated by estimating a beta distribution that fits a quality signature histogram of inspected packages and determining a cutoff threshold for an acceptable quality signature. Other aspects, features, and embodiments are also claimed and described.Georgia Tech Research Corporatio