Real-time Spatial Detection and Tracking of Resources in a Construction Environment

Construction accidents with heavy equipment and bad decision making can be based on poor knowledge of the site environment and in both cases may lead to work interruptions and costly delays. Supporting the construction environment with real-time generated three-dimensional (3D) models can help preventing accidents as well as support management by modeling infrastructure assets in 3D. Such models can be integrated in the path planning of construction equipment operations for obstacle avoidance or in a 4D model that simulates construction processes. Detecting and guiding resources, such as personnel, machines and materials in and to the right place on time requires methods and technologies supplying information in real-time. This paper presents research in real-time 3D laser scanning and modeling using high range frame update rate scanning technology. Existing and emerging sensors and techniques in three-dimensional modeling are explained. The presented research successfully developed computational models and algorithms for the real-time detection, tracking, and three-dimensional modeling of static and dynamic construction resources, such as workforce, machines, equipment, and materials based on a 3D video range camera. In particular, the proposed algorithm for rapidly modeling three-dimensional scenes is explained. Laboratory and outdoor field experiments that were conducted to validate the algorithm’s performance and results are discussed

Preliminary remarks on the legal regulation of the unmanned vessels

La crescente importanza dei mezzi di trasporto autonomi, e nello specifico delle navi senza equipaggio, governati da un\u2019intelligenza artificiale, impone all\u2019interprete di inquadrare il fenomeno in termini giuridici, al fine anche di proporre emendamenti alle convenzioni internazionali ed introdurre le fatti- specie delle navi senza equipaggio a livello ordinamentale. Lo scritto conside- ra in particolare l\u2019impiego delle navi senza equipaggio con finalit\ue0 di salvatag- gio di persone e cose in pericolo in mare. A tal proposito, viene analizzato l\u2019obbligo di fornire assistenza alle persone in pericolo in mare relativo all'ope- razione di salvataggio con mezzi di trasporto autonomi. \uc8 stato inoltre ogget- to di analisi il problema della responsabilit\ue0 per la collisione tra navi quando uno dei mezzi coinvolti \ue8 privo di equipaggio

Suction Detection And Feedback Control For The Rotary Left Ventricular Assist Device

The Left Ventricular Assist Device (LVAD) is a rotary mechanical pump that is implanted in patients with congestive heart failure to help the left ventricle in pumping blood in the circulatory system. The rotary type pumps are controlled by varying the pump motor current to adjust the amount of blood flowing through the LVAD. One important challenge in using such a device is the desire to provide the patient with as close to a normal lifestyle as possible until a donor heart becomes available. The development of an appropriate feedback controller that is capable of automatically adjusting the pump current is therefore a crucial step in meeting this challenge. In addition to being able to adapt to changes in the patient\u27s daily activities, the controller must be able to prevent the occurrence of excessive pumping of blood from the left ventricle (a phenomenon known as ventricular suction) that may cause collapse of the left ventricle and damage to the heart muscle and tissues. In this dissertation, we present a new suction detection system that can precisely classify pump flow patterns, based on a Lagrangian Support Vector Machine (LSVM) model that combines six suction indices extracted from the pump flow signal to make a decision about whether the pump is not in suction, approaching suction, or in suction. The proposed method has been tested using in vivo experimental data based on two different LVAD pumps. The results show that the system can produce superior performance in terms of classification accuracy, stability, learning speed, iv and good robustness compared to three other existing suction detection methods and the original SVM-based algorithm. The ability of the proposed algorithm to detect suction provides a reliable platform for the development of a feedback control system to control the current of the pump (input variable) while at the same time ensuring that suction is avoided. Based on the proposed suction detector, a new control system for the rotary LVAD was developed to automatically regulate the pump current of the device to avoid ventricular suction. The control system consists of an LSVM suction detector and a feedback controller. The LSVM suction detector is activated first so as to correctly classify the pump status as No Suction (NS) or Suction (S). When the detection is “No Suction”, the feedback controller is activated so as to automatically adjust the pump current in order that the blood flow requirements of the patient’s body at different physiological states are met according to the patient’s activity level. When the detection is “Suction”, the pump current is immediately decreased in order to drive the pump back to a normal No Suction operating condition. The performance of the control system was tested in simulations over a wide range of physiological conditions

Technological Advancement for Vehicles Operable by the Visually Impaired

This senior project aims to provide blind persons with the ability to effectively experience driving. This report includes the project background, literature review, designs, methodologies, results, and conclusions with project management, human factors engineering, and electronic manufacturing focuses. Other universities and professionals have accepted the Blind Driver Challenge presented by the National Federation of the Blind (NFB) or studied systems to improve vehicle feedback. The Virginia Tech vehicle, named Odin , includes tactile and audio interfaces in order to relay information to a blind driver about vehicle heading and speed. The QFD results reveal that the amount of available information from the feedback systems ranks the most important aspect of this project\u27s designs. The QFD slso shows the importance of both speed and acceleration. The final feedback designs of the vibrating vest, steering wheel, and audio provide commands, statuses, and speed updates. The programs packaged with the SICK LIDAR sensor as well as LabVIEW will serve to accomplish the necessary programming. This project contains two expensive items that push its total cost fairly high, the dune buggy and the laser scanner. Considering the over 1000 feet of electrical wire, electrical safety signifies a very large safety concern. Innovative sensor and tactile feedback technology provide the backbone for this advancement for the visually impaired

Application of the H-Mode, a Design and Interaction Concept for Highly Automated Vehicles, to Aircraft

Driven by increased safety, efficiency, and airspace capacity, automation is playing an increasing role in aircraft operations. As aircraft become increasingly able to autonomously respond to a range of situations with performance surpassing human operators, we are compelled to look for new methods that help us understand their use and guide their design using new forms of automation and interaction. We propose a novel design metaphor to aid the conceptualization, design, and operation of highly-automated aircraft. Design metaphors transfer meaning from common experiences to less familiar applications or functions. A notable example is the "Desktop metaphor" for manipulating files on a computer. This paper describes a metaphor for highly automated vehicles known as the H-metaphor and a specific embodiment of the metaphor known as the H-mode as applied to aircraft. The fundamentals of the H-metaphor are reviewed followed by an overview of an exploratory usability study investigating human-automation interaction issues for a simple H-mode implementation. The envisioned application of the H-mode concept to aircraft is then described as are two planned evaluations

Automated in-row weed trimmer

The Automated In-Row Weed Trimmer, or AIRWT, is a weed removal system designed to be used in vineyards in order to enable safe and e cient removal of weeds while preventing damage to the vines. The goal of the system is to reduce the need for the use of manual labor and herbicides while improving production rates of grapes by automating the weed removal process at vineyards. By implementing an automated system for weed removal, the team aims to resolve ethical issues in food production, primarily those surrounding human labor, environmental friendliness, and social sustainability. The focus of this report is to explore in depth the AIRWT system concept as well as its subsystems, in addition to reviewing its product development cycle