Robot-aided cloth classification using depth information and CNNs

The final publication is available at link.springer.comWe present a system to deal with the problem of classifying garments from a pile of clothes. This system uses a robot arm to extract a garment and show it to a depth camera. Using only depth images of a partial view of the garment as input, a deep convolutional neural network has been trained to classify different types of garments. The robot can rotate the garment along the vertical axis in order to provide different views of the garment to enlarge the prediction confidence and avoid confusions. In addition to obtaining very high classification scores, compared to previous approaches to cloth classification that match the sensed data against a database, our system provides a fast and occlusion-robust solution to the problem.Peer ReviewedPostprint (author's final draft

Design and Autonomous Stabilization of a Ballistically Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically launched, autonomously stabilizing multirotor prototype (SQUID, Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision based, active stabilization, confirming the ability of the multirotor to autonomously stabilize after a ballistic launch in a GPS denied environment.Comment: Accepted to 2020 International Conference on Robotics and Automatio

Detect the unexpected: a science for surveillance

Purpose – The purpose of this paper is to outline a strategy for research development focused on addressing the neglected role of visual perception in real life tasks such as policing surveillance and command and control settings. Approach – The scale of surveillance task in modern control room is expanding as technology increases input capacity at an accelerating rate. The authors review recent literature highlighting the difficulties that apply to modern surveillance and give examples of how poor detection of the unexpected can be, and how surprising this deficit can be. Perceptual phenomena such as change blindness are linked to the perceptual processes undertaken by law-enforcement personnel. Findings – A scientific programme is outlined for how detection deficits can best be addressed in the context of a multidisciplinary collaborative agenda between researchers and practitioners. The development of a cognitive research field specifically examining the occurrence of perceptual “failures” provides an opportunity for policing agencies to relate laboratory findings in psychology to their own fields of day-to-day enquiry. Originality/value – The paper shows, with examples, where interdisciplinary research may best be focussed on evaluating practical solutions and on generating useable guidelines on procedure and practice. It also argues that these processes should be investigated in real and simulated context-specific studies to confirm the validity of the findings in these new applied scenarios

Solar array flight experiment/dynamic augmentation experiment

This report presents the objectives, design, testing, and data analyses of the Solar Array Flight Experiment/Dynamic Augmentation Experiment (SAFE/DAE) that was tested aboard Shuttle in September 1984. The SAFE was a lightweight, flat-fold array that employed a thin polyimide film (Kapton) as a substrate for the solar cells. Extension/retraction, dynamics, electrical and thermal tests, were performed. Of particular interest is the dynamic behavior of such a large lightweight structure in space. Three techniques for measuring and analyzing this behavior were employed. The methodology for performing these tests, gathering data, and data analyses are presented. The report shows that the SAFE solar array technology is ready for application and that new methods are available to assess the dynamics of large structures in space

Active perception of deformable objects using 3D cameras

Presentado al Workshop de Robótica Experimental celebrado en Sevilla del 28 al 29 de noviembre de 2011.Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they are more complex to model, their state is difficult to determine, and self-occlusions are common and hard to estimate. In this paper we present our progress/results in the perception of deformable objects both using conventional RGB cameras and active sensing strategies by means of depth cameras. We provide insights in two different areas of application: grasping of textiles and plant leaf modelling.This research is partially funded by the EU GARNICS project FP7-247947, by the Spanish Ministry of Science and Innovation under project DPI2008-06022 and MIPRCV Consolider Ingenio CSD2007-00018, and the Catalan Research Commission.Peer Reviewe

The Lunar Roving Vehicle: Historical perspective

As NASA proceeds with its studies, planning, and technology efforts in preparing for the early twenty-first century, it seems appropriate to reexamine past programs for potential applicability in meeting future national space science and exploration goals and objectives. Both the National Commission on Space (NCOS) study and NASA's 'Sally Ride study' suggest future programs involving returning to the Moon and establishing man's permanent presence there, and/or visiting the planet Mars in both the unmanned and manned mode. Regardless of when and which of these new bold initiatives is selected as our next national space goal, implementing these potentially new national thrusts in space will undoubtedly require the use of both manned and remotely controlled roving vehicles. Therefore, the purpose of this paper is to raise the consciousness level of the current space exploration planners to what, in the early 1970s, was a highly successful roving vehicle. During the Apollo program the vehicle known as the Lunar Roving Vehicle (LRV) was designed for carrying two astronauts, their tools, and the equipment needed for rudimentary exploration of the Moon. This paper contains a discussion of the vehicle, its characteristics, and its use on the Moon. Conceivably, the LRV has the potential to meet some future requirements, either with relatively low cost modifications or via an evolutionary route. This aspect, however, is left to those who would choose to further study these options

Study of roles of remote manipulator systems and EVA for shuttle mission support, volume 1

Alternate extravehicular activity (EVA) and remote manipulator system (RMS) configurations were examined for their relative effectiveness in performing an array of representative shuttle and payload support tasks. Initially a comprehensive analysis was performed of payload and shuttle support missions required to be conducted exterior to a pressurized inclosure. A set of task selection criteria was established, and study tasks were identified. The EVA and RMS modes were evaluated according to their applicability for each task and task condition. The results are summarized in tabular form, showing the modes which are chosen as most effective or as feasible for each task/condition. Conclusions concerning the requirements and recommendations for each mode are presented

Calibration of the Logarithmic-Periodic Dipole Antenna (LPDA) Radio Stations at the Pierre Auger Observatory using an Octocopter

An in-situ calibration of a logarithmic periodic dipole antenna with a frequency coverage of 30 MHz to 80 MHz is performed. Such antennas are part of a radio station system used for detection of cosmic ray induced air showers at the Engineering Radio Array of the Pierre Auger Observatory, the so-called Auger Engineering Radio Array (AERA). The directional and frequency characteristics of the broadband antenna are investigated using a remotely piloted aircraft (RPA) carrying a small transmitting antenna. The antenna sensitivity is described by the vector effective length relating the measured voltage with the electric-field components perpendicular to the incoming signal direction. The horizontal and meridional components are determined with an overall uncertainty of 7.4^{+0.9}_{-0.3} % and 10.3^{+2.8}_{-1.7} % respectively. The measurement is used to correct a simulated response of the frequency and directional response of the antenna. In addition, the influence of the ground conductivity and permittivity on the antenna response is simulated. Both have a negligible influence given the ground conditions measured at the detector site. The overall uncertainties of the vector effective length components result in an uncertainty of 8.8^{+2.1}_{-1.3} % in the square root of the energy fluence for incoming signal directions with zenith angles smaller than 60{\deg}.Comment: Published version. Updated online abstract only. Manuscript is unchanged with respect to v2. 39 pages, 15 figures, 2 table