Robot trajectory planning using OLP and structured light 3D machine vision

This paper proposes a new methodology for robotic offline programming (OLP) addressing the issue of automatic program generation directly from 3D CAD models and verification through online 3D reconstruction. Limitations of current OLP include manufacturing tolerances between CAD and workpieces and inaccuracies in workpiece placement and modelled work cell. These issues are addressed and demonstrated through surface scanning, registration, and global and local error estimation. The method allows the robot to adjust the welding path designed from the CAD model to the actual workpiece. Alternatively, for non-repetitive tasks and where a CAD model is not available, it is possible to interactively define the path online over the scanned surface

A multi-projector CAVE system with commodity hardware and gesture-based interaction

Spatially-immersive systems such as CAVEs provide users with surrounding worlds by projecting 3D models on multiple screens around the viewer. Compared to alternative immersive systems such as HMDs, CAVE systems are a powerful tool for collaborative inspection of virtual environments due to better use of peripheral vision, less sensitivity to tracking errors, and higher communication possibilities among users. Unfortunately, traditional CAVE setups require sophisticated equipment including stereo-ready projectors and tracking systems with high acquisition and maintenance costs. In this paper we present the design and construction of a passive-stereo, four-wall CAVE system based on commodity hardware. Our system works with any mix of a wide range of projector models that can be replaced independently at any time, and achieves high resolution and brightness at a minimum cost. The key ingredients of our CAVE are a self-calibration approach that guarantees continuity across the screen, as well as a gesture-based interaction approach based on a clever combination of skeletal data from multiple Kinect sensors.Preprin

Ionization Electron Signal Processing in Single Phase LArTPCs I. Algorithm Description and Quantitative Evaluation with MicroBooNE Simulation

We describe the concept and procedure of drifted-charge extraction developed in the MicroBooNE experiment, a single-phase liquid argon time projection chamber (LArTPC). This technique converts the raw digitized TPC waveform to the number of ionization electrons passing through a wire plane at a given time. A robust recovery of the number of ionization electrons from both induction and collection anode wire planes will augment the 3D reconstruction, and is particularly important for tomographic reconstruction algorithms. A number of building blocks of the overall procedure are described. The performance of the signal processing is quantitatively evaluated by comparing extracted charge with the true charge through a detailed TPC detector simulation taking into account position-dependent induced current inside a single wire region and across multiple wires. Some areas for further improvement of the performance of the charge extraction procedure are also discussed.Comment: 60 pages, 36 figures. The second part of this work can be found at arXiv:1804.0258

Recent developments in Quantum Monte-Carlo simulations with applications for cold gases

This is a review of recent developments in Monte Carlo methods in the field of ultra cold gases. For bosonic atoms in an optical lattice we discuss path integral Monte Carlo simulations with worm updates and show the excellent agreement with cold atom experiments. We also review recent progress in simulating bosonic systems with long-range interactions, disordered bosons, mixtures of bosons, and spinful bosonic systems. For repulsive fermionic systems determinantal methods at half filling are sign free, but in general no sign-free method exists. We review the developments in diagrammatic Monte Carlo for the Fermi polaron problem and the Hubbard model, and show the connection with dynamical mean-field theory. We end the review with diffusion Monte Carlo for the Stoner problem in cold gases.Comment: 68 pages, 22 figures, review article; replaced with published versio

Crowd simulation in an emergency situation

Los planes de evacuación de diferentes edificios, barcos y cualquier otro tipo de sitios públicos es difícil de definir, al menos, si quieres que sea lo más eficiente, seguro y rápido posible. El proyecto trata de simular un espacio virtual con avatares ficticios y un usuario que intentarán salir.The evacuation plan for different buildings, ships and all kind of public spaces is hard to define, at least, if you want it to be the most efficient plan, thus the safest and the fastest. Therefore, the project is about simulating an environment with virtual avatars trying to find the way out