Warehouse Storing and Collecting of Parts

This report deals with reducing the high costs resulting from the wear and tear of the fork-lifts used to store or collect items in a warehouse. Two problems were identified and addressed separately. One concerns the way items should be stored or collected at storage locations on the shelves of one corridor. The other problem seeks for an efficient way to define which fork-lift should operate on each corridor, and the order by which the fork-lifts should visit the corridors. We give to both problems formulations that fit in the framework of combinatorial optimization

Target tracking using laser range finder with occlusion

Mestrado em Engenharia MecânicaEste trabalho apresenta uma técnica para a detecção e seguimento de múltiplos alvos móveis usando um sensor de distâncias laser em situações de forte oclusão. O processo inicia-se com a aplicação de filtros temporais aos dados em bruto de modo a eliminar o ruído do sensor seguindo-se de uma segmentação em várias fases com o objectivo de contornar o problema da oclusão. Os segmentos obtidos representam objectos presentes no ambiente. Para cada segmento um ponto representativo da sua posição no mundo é calculado, este ponto é definido de modo a ser relativamente invariante à rotação e mudança de forma do objecto. Para fazer o seguimento de alvos uma lista de objectos a seguir é mantida, todos os objectos visíveis são associados a objectos desta lista usando técnicas de procura baseadas na previsão do movimento dos objectos. Uma zona de procura de forma elíptica é definida para cada objecto da lista sendo nesta zona que se dará a associação. A previsão do movimento é feita com base em dois modelos de movimento, um de velocidade constante e um de aceleração constante e com aplicação de filtros de Kalman. O algoritmo foi testado em diversas condições reais e mostrou-se robusto e eficaz no seguimento de pessoas mesmo em situações de extensa oclusão. ABSTRACT: In this work a technique for the detection and tracking of multiple moving targets in situations of strong occlusion using a laser rangefinder is presented. The process starts by the application of temporal filters to the raw data in order to remove noise followed by a multi phase segmentation with the goal of overcoming occlusions. The resulting segments represent objects in the environment. For each segment a representative point is defined; this point is calculated to better represent the object while keeping some invariance to rotation and shape changes. In order to perform the tracking, a list of objects to follow is maintained; all visible objects are associated with objects from this list using search techniques based on the predicted motion of objects. A search zone shaped as an ellipse is defined for each object; it is in this zone that the association is preformed. The motion prediction is based in two motion models, one with constant velocity and the other with constant acceleration and in the application of Kalman filters. The algorithm was tested in diverse real conditions and shown to be robust and effective in the tracking of people even in situations of long occlusions

The Role of the Dorsal Visual Processing Stream in Tool Identification

The dorsal visual processing stream subserves object-directed action, whereas the ventral visual processing stream subserves visual object recognition. Little is known about how information computed by dorsal-stream structures influences object recognition. We used continuous flash suppression to functionally separate information computed by the dorsal stream from that computed by the ventral stream. We show that information originating from the dorsal stream influences not only decisions requiring the selection of superordinate category labels, but also decisions that entail the selection of a basic-level object. We further show that information computed by the dorsal stream does not carry specific functional information about objects. Our results indicate that the dorsal stream, in isolation from the ventral stream, is agnostic as to the identity of the objects that it processes. We suggest that structures within the dorsal visual processing stream compute motor-relevant information (e.g., graspability), which influences the identification of manipulable objects, and is not either about the function of the object or function-specific.Psycholog

Accuracy and repeatability of a new portable ultrasound pachymeter

To assess the accuracy and repeatability of central corneal thickness (CCT) measurements taken with a new portable ultrasound (US) pachymeter. Methods: Central thickness measurements were taken with a portable pachymeter (SP-100 Handy;Tomey, Nagoya, Japan) and a conventional US pachymeter (Nidek UP-1000; Nidek Technologies, Gamagori, Japan) from 57 right corneas of 57 young adults (19 males, 38 females) aged 18–44 years (mean ± S.D., 22.95 ± 3.92). Three repeated measures were obtained and then compared to obtain the repeatability of each instrument and the agreement between the pachymeters. The three readings taken with the portable pachymeter were compared against each other in order to evaluate intra-session repeatability and bias of each individual measurement with respect to the mean of three. Results: Mean values of CCT were 537 ± 35 micron for conventional and 534 ± 35 micron for the new portable pachymeter. A high agreement was found between the two instruments mean difference = 2.58 micron; 95% CI 1.41–3.75 micron) with only two eyes presenting differences larger than ± 8.6 micron which represents 95% CI in the Bland-Altman plots which represents 1.6% of the mean CCT. The first reading taken showed the highest agreement with the mean value for the portable pachymeter. Conclusions: The instrument tested in this study is able to take reliable measurements of corneal thickness even if a single reading is considered. Intra-session repeatability was very high, as was also the agreement between the average of three readings taken with the two US pachymeters

Non contact tonometry synchronized with cardiac rhythm and its relationship with blood pressure

Purpose: The main objectives of this study were to determine the differences between non-synchronized intraocular pressure (IOP_N) and intraocular pressure readings synchronized with cardiac pulse and try to determine if these parameters are related to blood pressure values. Methods: One hundred and sixty-five right eyes from 165 volunteers (107 females, 58 males) aged from 19 to 73 years (mean ± S.D., 29.93 ± 11.17) were examined with the Nidek NT-4000, a new non-contact tonometer that allows the measurement of IOP synchronized with the cardiac rhythm. IOP measurements in the four different modes of synchronization were taken in a randomized order. Three measures of each parameter were taken and then averaged. The blood pressure was determined three times with a portable manometer and mean values of systolic and diastolic pressure and the pulse rate were computed. Mean arterial pressure (MAP) was determined as being 1/3 of systolic plus 2/3 of diastolic blood pressure. Results: The mean ± S.D. values for the standard intraocular pressure (IOP_N: 14.76 ± 2.86), intraocular pressure in the systolic instant or peak (IOP_P: 14.99 ± 2.85), intraocular pressure in the middle instant between heartbeats or middle (IOP_M: 14.68 ± 2.76), and intraocular pressure in the diastolic instant or bottom (IOP_B: 13.86 ± 2.61) were obtained. The IOP_P was higher than the remaining values. A significant difference in mean IOP existed between IOP_B and the remaining modes of measuring (p < 0.05). Differences were statistically significant for all pair comparisons involving IOP_B. Arterial blood pressure values were systolic 125.5 ± 14.22, diastolic 77.7 ± 8.38 and MAP 93.64 ± 9.44 mmHg. The pulse rate was 77.3 ± 12.6 beats per minute. Except for the MAP (p = 0.025) there was no significant correlation between different IOP values and systolic or diastolic blood pressure, or pulse rate. Conclusions: NT-4000 is able to differentiate IOP values when synchronized with the cardiac rhythm and those differences are expected to be within a range of ±2.5 to ± 3.0 mmHg. IOP_B seems to be the parameter whose value differs from the non-synchronized and the remaining synchronized parameters in a significant way. Other than a weak association with MAP, no significant correlation between IOP and BP was found. The measurements of IOP readings for the three modes are consistent with timings during the cardiac cycle and IOP pulse cycle