Machine intelligence and robotics: Report of the NASA study group. Executive summary

A brief overview of applications of machine intelligence and robotics in the space program is given. These space exploration robots, global service robots to collect data for public service use on soil conditions, sea states, global crop conditions, weather, geology, disasters, etc., from Earth orbit, space industrialization and processing technologies, and construction of large structures in space. Program options for research, advanced development, and implementation of machine intelligence and robot technology for use in program planning are discussed. A vigorous and long-range program to incorporate and keep pace with state of the art developments in computer technology, both in spaceborne and ground-based computer systems is recommended

Noise-limited scene-change detection in images

This thesis describes the theoretical, experimental, and practical aspects of a noise-limited method for scene-change detection in images. The research is divided into three sections: noise analysis and modelling, dual illumination scene-change modelling, and integration of noise into the scene-change model. The sources of noise within commercially available digital cameras are described, with a new model for image noise derived for charge-coupled device (CCD) cameras. The model is validated experimentally through the development of techniques that allow the individual noise components to be measured from the analysis of output images alone. A generic model for complementary metal-oxide-semiconductor (CMOS) cameras is also derived. Methods for the analysis of spatial (inter-pixel) and temporal (intra-pixel) noise are developed. These are used subsequently to investigate the effects of environmental temperature on camera noise. Based on the cameras tested, the results show that the CCD camera noise response to variation in environmental temperature is complex whereas the CMOS camera response simply increases monotonically. A new concept for scene-change detection is proposed based upon a dual illumination concept where both direct and ambient illumination sources are present in an environment, such as that which occurs in natural outdoor scenes with direct sunlight and ambient skylight. The transition of pixel colour from the combined direct and ambient illuminants to the ambient illuminant only is modelled. A method for shadow-free scene-change is then developed that predicts a pixel's colour when the area in the scene is subjected to ambient illumination only, allowing pixel change to be distinguished as either being due to a cast shadow or due to a genuine change in the scene. Experiments on images captured in controlled lighting demonstrate 91% of scene-change and 83% of cast shadows are correctly determined from analysis of pixel colour change alone. A statistical method for detecting shadow-free scene-change is developed. This is achieved by bounding the dual illumination model by the confidence interval associated with the pixel's noise. Three benefits arise from the integration of noise into the scene-change detection method: - The necessity for pre-filtering images for noise is removed; - All empirical thresholds are removed; and - Performance is improved. The noise-limited scene-change detection algorithm correctly classifies 93% of scene-change and 87% of cast shadows from pixel colour change alone. When simple post-analysis size-filtering is applied both these figures increase to 95%

Annual report of the officers of the town of Ashland, N.H., year ending January 31, 1931.

This is an annual report containing vital statistics for a town/city in the state of New Hampshire

Motion estimation of planar curves and their alignment using visual servoing

Motion estimation and vision based control have been steadily improving research areas recently. Visual motion estimation is the determination of underlying motion parameters by using image data. Visual servoing on the other hand refers to the closed loop control of robotic systems using vision. Solving these problems with objects that have simple geometric features, such as points and lines is rather easy. However, these problems may imply certain challenges when we deal with curved objects that lack such simple features. This thesis proposes novel vision based estimation and control techniques that use object boundary information. Object boundaries are represented by planar algebraic curves. Decomposition of algebraic curves are used to extract features for motion estimation and visual servoing. Motion estimation algorithm uses the parameters of line factors resulting from the decomposition of the curve whereas visual servoing method employs the intersections of lines. Motion estimation algorithm is verified with several simulations and experiments. Visual servoing algorithm developed for the arbitrary alignment of a planar object is tested both with simulations on a 6 DOF Puma 560 robot and experiments on a 2 DOF SCARA robot. Results are quite promising

Machine Tools and Industry 4.0 - Trends of Development

Primary goals of trends of digitalization in the Industry are increasing of efficiency, productivity and quality of product. As a basic unit of modern manufacturing industry, numerical controlled machine tools have important role in industrial digitalization. Their improvement trough implementation of digitally connected components and subsystems enables a creation of an adaptive mechatronic system which can be a part of connected production system. This paper describes some of the key and desired characteristics of Machine Tool 4.0 such as Cyber-physical Machine Tools, vertically and horizontally integrated machine tools and more intelligent, autonomous and safer machine tools.For publisher:Assistant professor Milija Kraišnik Ph

Machine Tools and Industry 4.0 - Trends of Development

Primary goals of trends of digitalization in the Industry are increasing of efficiency, productivity and quality of product. As a basic unit of modern manufacturing industry, numerical controlled machine tools have important role in industrial digitalization. Their improvement trough implementation of digitally connected components and subsystems enables a creation of an adaptive mechatronic system which can be a part of connected production system. This paper describes some of the key and desired characteristics of Machine Tool 4.0 such as Cyber-physical Machine Tools, vertically and horizontally integrated machine tools and more intelligent, autonomous and safer machine tools.For publisher:Assistant professor Milija Kraišnik Ph