MScMS-II: an innovative IR-based indoor coordinate measuring system for large-scale metrology applications

According to the current great interest concerning large-scale metrology applications in many different fields of manufacturing industry, technologies and techniques for dimensional measurement have recently shown a substantial improvement. Ease-of-use, logistic and economic issues, as well as metrological performance are assuming a more and more important role among system requirements. This paper describes the architecture and the working principles of a novel infrared (IR) optical-based system, designed to perform low-cost and easy indoor coordinate measurements of large-size objects. The system consists of a distributed network-based layout, whose modularity allows fitting differently sized and shaped working volumes by adequately increasing the number of sensing units. Differently from existing spatially distributed metrological instruments, the remote sensor devices are intended to provide embedded data elaboration capabilities, in order to share the overall computational load. The overall system functionalities, including distributed layout configuration, network self-calibration, 3D point localization, and measurement data elaboration, are discussed. A preliminary metrological characterization of system performance, based on experimental testing, is also presente

Multi-Sensor Context-Awareness in Mobile Devices and Smart Artefacts

The use of context in mobile devices is receiving increasing attention in mobile and ubiquitous computing research. In this article we consider how to augment mobile devices with awareness of their environment and situation as context. Most work to date has been based on integration of generic context sensors, in particular for location and visual context. We propose a different approach based on integration of multiple diverse sensors for awareness of situational context that can not be inferred from location, and targeted at mobile device platforms that typically do not permit processing of visual context. We have investigated multi-sensor context-awareness in a series of projects, and report experience from development of a number of device prototypes. These include development of an awareness module for augmentation of a mobile phone, of the Mediacup exemplifying context-enabled everyday artifacts, and of the Smart-Its platform for aware mobile devices. The prototypes have been explored in various applications to validate the multi-sensor approach to awareness, and to develop new perspectives of how embedded context-awareness can be applied in mobile and ubiquitous computing

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

Appearance-based localization for mobile robots using digital zoom and visual compass

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally