Information-Driven Adaptive Structured-Light Scanners

Sensor planning and active sensing, long studied in robotics, adapt sensor parameters to maximize a utility function while constraining resource expenditures. Here we consider information gain as the utility function. While these concepts are often used to reason about 3D sensors, these are usually treated as a predefined, black-box, component. In this paper we show how the same principles can be used as part of the 3D sensor. We describe the relevant generative model for structured-light 3D scanning and show how adaptive pattern selection can maximize information gain in an open-loop-feedback manner. We then demonstrate how different choices of relevant variable sets (corresponding to the subproblems of locatization and mapping) lead to different criteria for pattern selection and can be computed in an online fashion. We show results for both subproblems with several pattern dictionary choices and demonstrate their usefulness for pose estimation and depth acquisition.United States. Office of Naval Research (Grant N00014-09-1-1051)United States. Army Research Office (Grant W911NF-11- 1-0391)United States. Office of Naval Research (Grant N00014- 11-1-0688

Abnormality detection strategies for surface inspection using robot mounted laser scanners

The detection of small surface abnormalities on large complex free-form surfaces represents a significant challenge. Often surfaces abnormalities are less than a millimeter square in area but, must be located on surfaces of multiple meters square. To achieve consistent, cost effective and fast inspection, robotic or automated inspection systems are highly desirable. The challenge with automated inspection systems is to create a robust and accurate system that is not adversely affected by environmental variation. Robot-mounted laser line scanner systems can be used to acquire surface measurements, in the form of a point cloud1 (PC), from large complex geometries. This paper addresses the challenge of how surface abnormalities can be detected based on PC data by considering two different analysis strategies. First, an unsupervised thresholding strategy is considered, and through an experimental study the factors that affect abnormality detection performance are considered. Second, a robust supervised abnormality detection strategy is proposed. The performance of the proposed robust detection algorithm is evaluated experimentally using a realistic test scenario including a complex surface geometry, inconsistent PC quality and variable PC noise. Test results of the unsupervised analysis strategy shows that besides the abnormality size, the laser projection angle and laser lines spacing play an important role on the performance of the unsupervised detection strategy. In addition, a compromise should be made between the threshold value and the sensitivity and specificity of the results

Report of the Attitude Control and Attitude Determination Panel

Failures and deficiencies in flight programs are reviewed and suggestions are made for avoiding them. The technology development problem areas considered are control configured vehicle design, gyros, solid state star sensors, control instrumentation, tolerant/accomodating control systems, large momentum exchange devices, and autonomous rendezvous and docking

Automated body volume acquisitions from 3D structured-light scanning

Whole-body volumes and segmental volumes are highly related to the health and medical condition of individuals. However, the traditional manual post-processing of raw 3D scanned data is time-consuming and needs technical expertise. The purpose of this study was to develop bespoke software for obtaining whole-body volumes and segmental volumes from raw 3D scanned data automatically and to establish its accuracy and reliability. The bespoke software applied Stitched Puppet model fitting techniques to deform template models to fit the 3D raw scanned data to identify the segmental endpoints and determine their locations. Finally, the bespoke software used the location information of segmental endpoints to set segmental boundaries on the reconstructed meshes and to calculate body volume. The whole-body volumes and segmental volumes (head & neck, torso, arms, and legs) of 29 participants processed by the traditional manual operation were regarded as the references and compared to the measurements obtained with the bespoke software using the intra-method and inter-method relative technical errors of measurement. The results showed that the errors in whole-body volumes and most segmental volumes acquired from the bespoke software were less than 5%. Overall, the bespoke software developed in this study can complete the post-processing tasks without any technical expertise, and the obtained whole-body volumes and segmental volumes can achieve good accuracy for some applications in health and medicine

Acousto-optic systems for advanced microscopy

Acoustic waves in an optical medium cause rapid periodic changes in the refraction index, leading to diffraction effects. Such acoustically controlled diffraction can be used to modulate, deflect, and focus light at microsecond timescales, paving the way for advanced optical microscopy designs that feature unprecedented spatiotemporal resolution. In this article, we review the operational principles, optical properties, and recent applications of acousto-optic (AO) systems for advanced microscopy, including random-access scanning, ultrafast confocal and multiphoton imaging, and fast inertia-free light-sheet microscopy. As AO technology is reaching maturity, designing new microscope architectures that utilize AO elements is more attractive than ever, providing new exciting opportunities in fields as impactful as optical metrology, neuroscience, embryogenesis, and high-content screening