Sensing and describing 3-D structure

Discovering the three dimensional structure of an object is important for a variety of robot tasks. Single sensor systems such as machine vision systems cannot reliably compute three dimensional structure in unconstrained environments. Active, exploratory tactile sensing can be used to complement passive stereo vision data to derive robust surface and feature descriptions of objects. The control for tactile sensing is provided by the vision system which provides regions of interest that the tactile system can explore. The descriptions of surfaces and features are accurate and can be used in a later matching phase against a model data base of objects to identify the object and its position and orientation in space

A Biomechanical Model for the Development of Myoelectric Hand Prosthesis Control Systems

Advanced myoelectric hand prostheses aim to reproduce as much of the human hand's functionality as possible. Development of the control system of such a prosthesis is strongly connected to its mechanical design; the control system requires accurate information on the prosthesis' structure and the surrounding environment, which can make development difficult without a finalized mechanical prototype. This paper presents a new framework for the development of electromyographic hand control systems, consisting of a prosthesis model based on the biomechanical structure of the human hand. The model's dynamic structure uses an ellipsoidal representation of the phalanges. Other features include underactuation in the fingers and thumb modeled with bond graphs, and a viscoelastic contact model. The model's functions are demonstrated by the execution of lateral and tripod grasps, and evaluated with regard to joint dynamics and applied forces. Finally, additions are suggested with which this model can be of use in mechanical design and patient training as well

Vulnerability assessment using remote sensing: The earthquake prone megacity Istanbul, Turkey

Hazards like earthquakes are natural, disasters are not. Disasters result from the impact of a hazard on a vulnerable system or society at a specific location. The framework of vulnerability aims at a holistic concept taking physical, environmental, socio-economic and political components into account. This paper focuses on the capabilities of remote sensing to contribute up-to-date spatial information to the physical dimension of vulnerability for the complex urban system of the megacity Istanbul, Turkey. An urban land cover classification based on high resolution satellite data establishes the basis to analyse the spatial distribution of different types of buildings, the carrying capacity of the street network or the identification of open spaces. In addition, a DEM (Digital Elevation Model) enables a localization of potential landslide areas. A methodology to combine these attributes related to the physical dimension of vulnerability is presented. In this process an n-dimensional coordinate system plots the variables describing vulnerability against each other. This enables identification of the degree of vulnerability and the vulnerability-determining factors for a specific location. This assessment of vulnerability provides a broad spatial information basis for decision-makers to develop mitigation strategies

Mocarts: a lightweight radiation transport simulator for easy handling of complex sensing geometries

In functional neuroimaging (fNIRS), elaborated sensing geometries pairing multiple light sources and detectors arranged over the tissue surface are needed. A variety of software tools for probing forward models of radiation transport in tissue exist, but their handling of sensing geometries and specification of complex tissue architectures is, most times, cumbersome. In this work, we introduce a lightweight simulator, Monte Carlo Radiation Transport Simulator (MOCARTS) that attends these demands for simplifying specification of tissue architectures and complex sensing geometries. An object-oriented architecture facilitates such goal. The simulator core is evolved from the Monte Carlo Multi-Layer (mcml) tool but extended to support multi-channel simulations. Verification against mcml yields negligible error (RMSE~4-10e-9) over a photon trajectory. Full simulations show concurrent validity of the proposed tool. Finally, the ability of the new software to simulate multi-channel sensing geometries and to define biological tissue models in an intuitive nested-hierarchy way are exemplified

Comparison of forest attributes derived from two terrestrial lidar systems.

Abstract Terrestrial lidar (TLS) is an emerging technology for deriving forest attributes, including conventional inventory and canopy characterizations. However, little is known about the influence of scanner specifications on derived forest parameters. We compared two TLS systems at two sites in British Columbia. Common scanning benchmarks and identical algorithms were used to obtain estimates of tree diameter, position, and canopy characteristics. Visualization of range images and point clouds showed clear differences, even though both scanners were relatively high-resolution instruments. These translated into quantifiable differences in impulse penetration, characterization of stems and crowns far from the scan location, and gap fraction. Differences between scanners in estimates of effective plant area index were greater than differences between sites. Both scanners provided a detailed digital model of forest structure, and gross structural characterizations (including crown dimensions and position) were relatively robust; but comparison of canopy density metrics may require consideration of scanner attributes

Synergy-based Hand Pose Sensing: Reconstruction Enhancement

Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of Freedom (DoFs) of the hand. Under these conditions, direct reconstruction of the hand posture is an ill-posed problem, and performance can be very poor. This paper examines the problem of estimating the posture of a human hand using(low-cost) sensing gloves, and how to improve their performance by exploiting the knowledge on how humans most frequently use their hands. To increase the accuracy of pose reconstruction without modifying the glove hardware - hence basically at no extra cost - we propose to collect, organize, and exploit information on the probabilistic distribution of human hand poses in common tasks. We discuss how a database of such an a priori information can be built, represented in a hierarchy of correlation patterns or postural synergies, and fused with glove data in a consistent way, so as to provide a good hand pose reconstruction in spite of insufficient and inaccurate sensing data. Simulations and experiments on a low-cost glove are reported which demonstrate the effectiveness of the proposed techniques.Comment: Submitted to International Journal of Robotics Research (2012

Observation Centric Sensor Data Model

Management of sensor data requires metadata to understand the semantics of observations. While e-science researchers have high demands on metadata, they are selective in entering metadata. The claim in this paper is to focus on the essentials, i.e., the actual observations being described by location, time, owner, instrument, and measurement. The applicability of this approach is demonstrated in two very different case studies