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Performance Modelling, and Adaptive Control for Linked Sequential Systems
This thesis investigates the dynamics of linked sequential systems of machines in industrial laundries. Two aspects are considered: firstly the control of such systems and in particular the decision making point when a batch to be processed can be sent to one of many identical machines, and secondly the modelling of the whole system of linked machines.
The decision making point in the control of these systems is frequently implemented in a sub-optimal manner, or a manner which becomes sub-optimal as conditions change. An adaptive system is preferable and an Evolutionary Artificial Neural Network approach (EANN) is proposed. The EANN is tested on simulations of real laundry systems and shown to be effective. Then it is applied to two abstract game playing problems in order to better understand its limitations. Limitations are found to include the fact that if learning does not appear to take place, it is not possible to determine if this is a failure of the Evolutionary approach or the Artificial Neural Network parameters.
The dynamics and performance of Linked Sequential Systems in Industrial Laundries are not well understood or covered by theory in the literature. The theory of the performance of these systems is outlined, and an Agent Based Model (ABM) simulation presented. The ABM simulation is explained and then the simulation is compared to a real world system in an existing laundry. The performance of the existing system is measured and compared to the prediction of the ABM simulation. The ABM simulation is shown to offer a better understanding of the system than the previous static calculation. Finally the ABM is used in a design exercise to show how it could be used to specify a system more accurately than the static calculation at design stage
Sensing Highly Non-Rigid Objects with RGBD Sensors for Robotic Systems
The goal of this research is to enable a robotic system to manipulate clothing and other highly non-rigid objects using an RGBD sensor. The focus of this thesis is to define and test various algorithms / models that are used to solve parts of the laundry process (i.e. handling, classifying, sorting, unfolding, and folding). First, a system is presented for automatically extracting and classifying items in a pile of laundry. Using only visual sensors, the robot identifies and extracts items sequentially from the pile. When an item is removed and isolated, a model is captured of the shape and appearance of the object, which is then compared against a dataset of known items. The contributions of this part of the laundry process are a novel method for extracting articles of clothing from a pile of laundry, a novel method of classifying clothing using interactive perception, and a multi-layer approach termed L-M-H, more specifically L-C-S-H for clothing classification. This thesis describes two different approaches to classify clothing into categories. The first approach relies upon silhouettes, edges, and other low-level image measurements of the articles of clothing. Experiments from the first approach demonstrate the ability of the system to efficiently classify and label into one of six categories (pants, shorts, short-sleeve shirt, long-sleeve shirt, socks, or underwear). These results show that, on average, classification rates using robot interaction are 59% higher than those that do not use interaction. The second approach relies upon color, texture, shape, and edge information from 2D and 3D data within a local and global perspective. The multi-layer approach compartmentalizes the problem into a high (H) layer, multiple mid-level (characteristics(C), selection masks(S)) layers, and a low (L) layer. This approach produces \u27local\u27 solutions to solve the global classification problem. Experiments demonstrate the ability of the system to efficiently classify each article of clothing into one of seven categories (pants, shorts, shirts, socks, dresses, cloths, or jackets). The results presented in this paper show that, on average, the classification rates improve by +27.47% for three categories, +17.90% for four categories, and +10.35% for seven categories over the baseline system, using support vector machines. Second, an algorithm is presented for automatically unfolding a piece of clothing. A piece of cloth is pulled in different directions at various points of the cloth in order to flatten the cloth. The features of the cloth are extracted and calculated to determine a valid location and orientation in which to interact with it. The features include the peak region, corner locations, and continuity / discontinuity of the cloth. In this thesis, a two-stage algorithm is presented, introducing a novel solution to the unfolding / flattening problem using interactive perception. Simulations using 3D simulation software, and experiments with robot hardware demonstrate the ability of the algorithm to flatten pieces of laundry using different starting configurations. These results show that, at most, the algorithm flattens out a piece of cloth from 11.1% to 95.6% of the canonical configuration. Third, an energy minimization algorithm is presented that is designed to estimate the configuration of a deformable object. This approach utilizes an RGBD image to calculate feature correspondence (using SURF features), depth values, and boundary locations. Input from a Kinect sensor is used to segment the deformable surface from the background using an alpha-beta swap algorithm. Using this segmentation, the system creates an initial mesh model without prior information of the surface geometry, and it reinitializes the configuration of the mesh model after a loss of input data. This approach is able to handle in-plane rotation, out-of-plane rotation, and varying changes in translation and scale. Results display the proposed algorithm over a dataset consisting of seven shirts, two pairs of shorts, two posters, and a pair of pants. The current approach is compared using a simulated shirt model in order to calculate the mean square error of the distance from the vertices on the mesh model to the ground truth, provided by the simulation model
Ecodesign and Energy Label for Household Washing machines and washer dryers
The European Commission launched in 2014 the revision of the ecodesign and energy-/resource label implementing measures for the product group 'household washing machines and household washer dryers (WM-WD)'. The revision study follows the Commission’s Methodology for the Evaluation of Energy related Products (MEErP) consisting of: Scope definition, standard methods and legislation, Market analysis, Analysis of user behaviour and system aspects, Analysis of technologies, Environmental and economics, Design options and Policy analysis and scenarios
The comprehensive analysis of the product group following the steps above will feed as research evidence basis into the revision of the existing Energy Label Regulation (EC) 1060/2010 and the Ecodesign Regulation (EC) 1015/2010 on household washing machines.
The research is based on available scientific information and data, uses a life-cycle thinking approach, and has engaged stakeholder experts in order to discuss key issues, and to the extent possible reach consensus on the proposals.JRC.B.5-Circular Economy and Industrial Leadershi
Real-time human ambulation, activity, and physiological monitoring:taxonomy of issues, techniques, applications, challenges and limitations
Automated methods of real-time, unobtrusive, human ambulation, activity, and wellness monitoring and data analysis using various algorithmic techniques have been subjects of intense research. The general aim is to devise effective means of addressing the demands of assisted living, rehabilitation, and clinical observation and assessment through sensor-based monitoring. The research studies have resulted in a large amount of literature. This paper presents a holistic articulation of the research studies and offers comprehensive insights along four main axes: distribution of existing studies; monitoring device framework and sensor types; data collection, processing and analysis; and applications, limitations and challenges. The aim is to present a systematic and most complete study of literature in the area in order to identify research gaps and prioritize future research directions
Robotic system for garment perception and manipulation
Mención Internacional en el título de doctorGarments are a key element of people’s daily lives, as many
domestic tasks -such as laundry-, revolve around them. Performing
such tasks, generally dull and repetitive, implies devoting
many hours of unpaid labor to them, that could be freed
through automation. But automation of such tasks has been traditionally
hard due to the deformable nature of garments, that
creates additional challenges to the already existing when performing
object perception and manipulation. This thesis presents
a Robotic System for Garment Perception and Manipulation
that intends to address these challenges.
The laundry pipeline as defined in this work is composed
by four independent -but sequential- tasks: hanging, unfolding,
ironing and folding. The aim of this work is the automation of
this pipeline through a robotic system able to work on domestic
environments as a robot household companion.
Laundry starts by washing the garments, that then need to
be dried, frequently by hanging them. As hanging is a complex
task requiring bimanipulation skills and dexterity, a simplified
approach is followed in this work as a starting point, by using
a deep convolutional neural network and a custom synthetic
dataset to study if a robot can predict whether a garment will
hang or not when dropped over a hanger, as a first step towards
a more complex controller.
After the garment is dry, it has to be unfolded to ease recognition
of its garment category for the next steps. The presented
model-less unfolding method uses only color and depth information
from the garment to determine the grasp and release
points of an unfolding action, that is repeated iteratively until
the garment is fully spread.
Before storage, wrinkles have to be removed from the garment.
For that purpose, a novel ironing method is proposed,
that uses a custom wrinkle descriptor to locate the most prominent
wrinkles and generate a suitable ironing plan. The method
does not require a precise control of the light conditions of
the scene, and is able to iron using unmodified ironing tools
through a force-feedback-based controller.
Finally, the last step is to fold the garment to store it. One
key aspect when folding is to perform the folding operation in a precise manner, as errors will accumulate when several
folds are required. A neural folding controller is proposed that
uses visual feedback of the current garment shape, extracted
through a deep neural network trained with synthetic data, to
accurately perform a fold.
All the methods presented to solve each of the laundry pipeline
tasks have been validated experimentally on different robotic
platforms, including a full-body humanoid robot.La ropa es un elemento clave en la vida diaria de las personas,
no sólo a la hora de vestir, sino debido también a que muchas
de las tareas domésticas que una persona debe realizar diariamente,
como hacer la colada, requieren interactuar con ellas.
Estas tareas, a menudo tediosas y repetitivas, obligan a invertir
una gran cantidad de horas de trabajo no remunerado en
su realización, las cuales podrían reducirse a través de su automatización.
Sin embargo, automatizar dichas tareas ha sido
tradicionalmente un reto, debido a la naturaleza deformable de
las prendas, que supone una dificultad añadida a las ya existentes
al llevar a cabo percepción y manipulación de objetos a
través de robots. Esta tesis presenta un sistema robótico orientado
a la percepción y manipulación de prendas, que pretende
resolver dichos retos.
La colada es una tarea doméstica compuesta de varias subtareas
que se llevan a cabo de manera secuencial. En este trabajo,
se definen dichas subtareas como: tender, desdoblar, planchar
y doblar. El objetivo de este trabajo es automatizar estas tareas
a través de un sistema robótico capaz de trabajar en entornos
domésticos, convirtiéndose en un asistente robótico doméstico.
La colada comienza lavando las prendas, las cuales han de
ser posteriormente secadas, generalmente tendiéndolas al aire
libre, para poder realizar el resto de subtareas con ellas. Tender
la ropa es una tarea compleja, que requiere de bimanipulación
y una gran destreza al manipular la prenda. Por ello, en este
trabajo se ha optado por abordar una versión simplicada de
la tarea de tendido, como punto de partida para llevar a cabo
investigaciones más avanzadas en el futuro. A través de una red
neuronal convolucional profunda y un conjunto de datos de
entrenamiento sintéticos, se ha llevado a cabo un estudio sobre
la capacidad de predecir el resultado de dejar caer una prenda
sobre un tendedero por parte de un robot. Este estudio, que
sirve como primer paso hacia un controlador más avanzado,
ha resultado en un modelo capaz de predecir si la prenda se
quedará tendida o no a partir de una imagen de profundidad
de la misma en la posición en la que se dejará caer.
Una vez las prendas están secas, y para facilitar su reconocimiento
por parte del robot de cara a realizar las siguientes tareas, la prenda debe ser desdoblada. El método propuesto en
este trabajo para realizar el desdoble no requiere de un modelo
previo de la prenda, y utiliza únicamente información de profundidad
y color, obtenida mediante un sensor RGB-D, para
calcular los puntos de agarre y soltado de una acción de desdoble.
Este proceso es iterativo, y se repite hasta que la prenda se
encuentra totalmente desdoblada.
Antes de almacenar la prenda, se deben eliminar las posibles
arrugas que hayan surgido en el proceso de lavado y secado.
Para ello, se propone un nuevo algoritmo de planchado, que
utiliza un descriptor de arrugas desarrollado en este trabajo para
localizar las arrugas más prominentes y generar un plan de
planchado acorde a las condiciones de la prenda. A diferencia
de otros métodos existentes, este método puede aplicarse en un
entorno doméstico, ya que no requiere de un contol preciso de
las condiciones de iluminación. Además, es capaz de usar las
mismas herramientas de planchado que usaría una persona sin
necesidad de realizar modificaciones a las mismas, a través de
un controlador que usa realimentación de fuerza para aplicar
una presión constante durante el planchado.
El último paso al hacer la colada es doblar la prenda para
almacenarla. Un aspecto importante al doblar prendas es ejecutar
cada uno de los dobleces necesarios con precisión, ya que
cada error o desfase cometido en un doblez se acumula cuando
la secuencia de doblado está formada por varios dobleces
consecutivos. Para llevar a cabo estos dobleces con la precisión
requerida, se propone un controlador basado en una red neuronal,
que utiliza realimentación visual de la forma de la prenda
durante cada operación de doblado. Esta realimentación es obtenida
a través de una red neuronal profunda entrenada con
un conjunto de entrenamiento sintético, que permite estimar
la forma en 3D de la parte a doblar a través de una imagen
monocular de la misma.
Todos los métodos descritos en esta tesis han sido validados
experimentalmente con éxito en diversas plataformas robóticas,
incluyendo un robot humanoide.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Abderrahmane Kheddar.- Secretario: Ramón Ignacio Barber Castaño.- Vocal: Karinne Ramírez-Amar
Textile Fingerprinting for Dismount Analysis in the Visible, Near, and Shortwave Infrared Domain
The ability to accurately and quickly locate an individual, or a dismount, is useful in a variety of situations and environments. A dismount\u27s characteristics such as their gender, height, weight, build, and ethnicity could be used as discriminating factors. Hyperspectral imaging (HSI) is widely used in efforts to identify materials based on their spectral signatures. More specifically, HSI has been used for skin and clothing classification and detection. The ability to detect textiles (clothing) provides a discriminating factor that can aid in a more comprehensive detection of dismounts. This thesis demonstrates the application of several feature selection methods (i.e., support vector machines with recursive feature reduction, fast correlation based filter) in highly dimensional data collected from a spectroradiometer. The classification of the data is accomplished with the selected features and artificial neural networks. A model for uniquely identifying (fingerprinting) textiles are designed, where color and composition are determined in order to fingerprint a specific textile. An artificial neural network is created based on the knowledge of the textile\u27s color and composition, providing a uniquely identifying fingerprinting of a textile. Results show 100% accuracy for color and composition classification, and 98% accuracy for the overall textile fingerprinting process
Socioeconomic impact of photovoltaic power at Schuchuli, Arizona
The social and economic impact of photovoltaic power on a small, remote native American village is studied. Village history, group life, energy use in general, and the use of photovoltaic-powered appliances are discussed. No significant impacts due to the photovoltaic power system were observed
A 'one-size-fits-most' walking recognition method for smartphones, smartwatches, and wearable accelerometers
The ubiquity of personal digital devices offers unprecedented opportunities
to study human behavior. Current state-of-the-art methods quantify physical
activity using 'activity counts,' a measure which overlooks specific types of
physical activities. We proposed a walking recognition method for sub-second
tri-axial accelerometer data, in which activity classification is based on the
inherent features of walking: intensity, periodicity, and duration. We
validated our method against 20 publicly available, annotated datasets on
walking activity data collected at various body locations (thigh, waist, chest,
arm, wrist). We demonstrated that our method can estimate walking periods with
high sensitivity and specificity: average sensitivity ranged between 0.92 and
0.97 across various body locations, and average specificity for common daily
activities was typically above 0.95. We also assessed the method's algorithmic
fairness to demographic and anthropometric variables and measurement contexts
(body location, environment). Finally, we have released our method as
open-source software in MATLAB and Python.Comment: 39 pages, 4 figures (incl. 1 supplementary), and 5 tables (incl. 2
supplementary
Sustainability in design: now! Challenges and opportunities for design research, education and practice in the XXI century
Copyright @ 2010 Greenleaf PublicationsLeNS project funded by the Asia Link Programme, EuropeAid, European Commission
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