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Recognition and Manipulation of Deformable Objects Using Predictive Thin Shell Modeling
This thesis focuses on the task of dexterous manipulation of deformable objects, and in particular, clothing and garments. The task of manipulating deformable objects such as clothing can be broken down into a series of sub-tasks: (1) perceive and pick up garment, and then identify garment and recognize its pose; (2) using a manipulation strategy, regrasp the object to put it into a canonical state; (3) scan the surface of the object to find wrinkles, and use an iron to remove the wrinkles; (4) starting from the wrinkle-free state, fold the garment according to pre-planned sequence of manipulations with optimized trajectories; In this thesis, we will address all the phases of this process.
A key contribution of the work is innovative use of simulation. We use offline simulation results to predict states of deformable objects (i.e. cloth, fabric, clothing) that are then recognized by a robotic vision/grasping system to correctly pick up and manipulate these objects. The recognition will use the simulation engine to deform the models in real time to find correct matches. The simulation will also be used to find the optimized trajectories for the manipulation of the garments, such as the garment folding
NASA Tech Briefs, May 1994
Topics covered include: Robotics/Automation; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery/Automation; Manufacturing/Fabrication; Mathematics and Information Sciences; Life Sciences; Books and Reports
Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program
Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft
ISMCR 1994: Topical Workshop on Virtual Reality. Proceedings of the Fourth International Symposium on Measurement and Control in Robotics
This symposium on measurement and control in robotics included sessions on: (1) rendering, including tactile perception and applied virtual reality; (2) applications in simulated medical procedures and telerobotics; (3) tracking sensors in a virtual environment; (4) displays for virtual reality applications; (5) sensory feedback including a virtual environment application with partial gravity simulation; and (6) applications in education, entertainment, technical writing, and animation
Human activity classification with miniature inertial sensors
Ankara : The Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent University, 2009.Thesis (Master's) -- Bilkent University, 2009.Includes bibliographical references leaves 79-92.This thesis provides a comparative study on activity recognition using miniature
inertial sensors (gyroscopes and accelerometers) and magnetometers worn
on the human body. The classification methods used and compared in this
study are: a rule-based algorithm (RBA) or decision tree, least-squares method
(LSM), k-nearest neighbor algorithm (k-NN), dynamic time warping (DTW-
1 and DTW-2), and support vector machines (SVM). In the first part of this
study, eight different leg motions are classified using only two single-axis gyroscopes.
In the second part, human activities are classified using five sensor units
worn on different parts of the body. Each sensor unit comprises a tri-axial gyroscope,
a tri-axial accelerometer and a tri-axial magnetometer. Different feature
sets extracted from the raw sensor data and these are used in the classification
process. A number of feature extraction and reduction techniques (principal
component analysis) as well as different cross-validation techniques have been
implemented and compared. A performance comparison of these classification
methods is provided in terms of their correct differentiation rates, confusion matrices,
pre-processing and training times and classification times. Among the
classification techniques we have considered and implemented, SVM, in general,
gives the highest correct differentiation rate, followed by k-NN. The classification
time for RBA is the shortest, followed by SVM or LSM, k-NN or DTW-1,
and DTW-2 methods. SVM requires the longest training time, whereas DTW-2
takes the longest amount of classification time. Although there is not a significant
difference between the correct differentiation rates obtained by different crossvalidation
techniques, repeated random sub-sampling uses the shortest amount
of classification time, whereas leave-one-out requires the longest.Tunçel, OrkunM.S
Marathon
Marathon is a novel about a young girl who is not born into the best family, who sets out to make a family for herself
Cumulative index to NASA Tech Briefs, 1986-1990, volumes 10-14
Tech Briefs are short announcements of new technology derived from the R&D activities of the National Aeronautics and Space Administration. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This cumulative index of Tech Briefs contains abstracts and four indexes (subject, personal author, originating center, and Tech Brief number) and covers the period 1986 to 1990. The abstract section is organized by the following subject categories: electronic components and circuits, electronic systems, physical sciences, materials, computer programs, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences
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