905 research outputs found
Protocol: optimised electrophyiological analysis of intact guard cells from arabidopsis
Genetic resources available for Arabidopsis thaliana make this species particularly attractive as a model for molecular genetic studies of guard cell homeostasis, transport and signalling, but this facility is not matched by accessible tools for quantitative analysis of transport in the intact cell. We have developed a reliable set of procedures for voltage clamp analysis of guard cells from Arabidopsis leaves. These procedures greatly simplify electrophysiological recordings, extending the duration of measurements and scope for analysis of the predominant K+ and anion channels of intact stomatal guard cells to that achieved previously in work with Vicia and tobacco guard cells
Evaluating the Augmented Reality Human-Robot Collaboration System
This paper discusses an experimental comparison of three user interface techniques for interaction with a mobile robot located remotely from the user. A typical means of operating a robot in such a situation is to teleoperate the robot using visual cues from a camera that displays the robot’s view of its work environment. However, the operator often has a difficult time maintaining awareness of the robot in its surroundings due to this single ego-centric view. Hence, a multi-modal system has been developed that allows the remote human operator to view the robot in its work environment through an Augmented Reality (AR) interface. The operator is able to use spoken dialog, reach into the 3D graphic representation of the work environment and discuss the intended actions of the robot to create a true
collaboration. This study compares the typical ego-centric driven view to two versions of an AR interaction system for an
experiment remotely operating a simulated mobile robot. One
interface provides an immediate response from the remotely located robot. In contrast, the Augmented Reality Human-Robot Collaboration (AR-HRC) System interface enables the user to discuss and review a plan with the robot prior to execution. The AR-HRC interface was most effective, increasing accuracy by
30% with tighter variation, while reducing the number of close calls in operating the robot by factors of ~3x. It thus provides the means to maintain spatial awareness and give the users the feeling
they were working in a true collaborative environment
Collaborating with a Mobile Robot: An Augmented Reality Multimodal Interface
Invited paperWe have created an infrastructure that allows a human to collaborate in a natural manner with a robotic system. In this paper we describe our system and its implementation with a mobile robot. In our
prototype the human communicates with the mobile robot using natural speech and gestures, for example, by selecting a point in 3D space and saying “go here” or “go behind that”. The robot responds using
speech so the human is able to understand its intentions and beliefs. Augmented Reality (AR) technology is used to facilitate natural use of gestures and provide a common 3D spatial reference for both the robot and human, thus providing a means for grounding of communication and maintaining spatial awareness.
This paper first discusses related work then gives a brief overview of AR and its capabilities. The architectural design we have developed is outlined and then a case study is discussed
Cost Effective Computer Vision Based Structural Health Monitoring using Adaptive LMS Filters
Structural health monitoring (SHM) algorithms based on Adaptive Least Mean
Squares (LMS) filtering theory can directly identify time-varying changes in
structural stiffness in real time in a computationally efficient fashion. However, the
best metrics of seismic structural damage are related to permanent and plastic
deformations. The recent work done by the authors uses LMS-based SHM methods
with a baseline non-linear Bouc-Wen structural model to directly identify changes
in stiffness (modelling or construction error), as well as plastic or permanent
deflections, in real-time. The algorithm validated, in silico, on a non-linear sheartype
concrete structure using noise-free simulation-derived structural responses.
In this paper, efficiency of the proposed SHM algorithm in identifying stiffness
changes and plastic/permanent deflections under different ground motions is
assessed using a suite of 20 different ground acceleration records. The results show
that even with a fixed filter tuning parameters, the proposed LMS SHM algorithm
identifies stiffness changes to within 10% of true value in 2.0 seconds. Permanent
deflection is identified to within 14% of the actual as-modelled value using noisefree
simulation-derived structural responses.
Accuracy of the proposed SHM algorithm mainly relies on providing high-speed
structural responses. However, due to a variety of practical constraints, direct high
frequency measurement of displacement and velocity is not typically possible. This
study explores the idea that emerging high speed line scan cameras can offer a
robust and high speed displacement measure required for the modified LMS-based
SHM algorithm proposed for non-linear yielding structures undergoing seismic
excitation, and can be used for more precise estimation of the velocity using
measured acceleration and displacement data. The displacement measurement
method is tested to capture displacements of a computer-controlled cart under 20 different displacement records. The method is capable of capturing displacements
of the cart with less than 2.2% error
The State-of-Art of Underwater Vehicles - Theories and Applications
An autonomous underwater vehicle (AUV) is an underwater system that contains its own
power and is controlled by an onboard computer. Although many names are given to these
vehicles, such as remotely operated vehicles (ROVs), unmanned underwater vehicles
(UUVs), submersible devices, or remote controlled submarines, to name just a few, the
fundamental task for these devices is fairly well defined: The vehicle is able to follow a
predefined trajectory.
AUVs offer many advantages for performing difficult tasks submerged in water. The main
advantage of an AUV is that is does not need a human operator. Therefore it is less
expensive than a human operated vehicle and is capable of doing operations that are too
dangerous for a person. They operate in conditions and perform task that humans are not
able to do efficiently, or at all (Smallwood & Whitcomb, 2004; Horgan & Toal, 2006; Caccia,
2006)
Unparticle Physics in the Moller Scattering
We investigate the virtual effects of vector unparticles in the Moller
scattering. We derive the analytic expression for scattering amplitudes with
unpolarized beams. We obtain 95% confidence level limits on the unparticle
couplings and with integrated luminosity of
and and 500 GeV energies. We show
that limits on are more sensitive than .Comment: 10 pages, 5 figures, 4 table
NARX models for simulation of the start-up operation of a single-shaft gas turbine
In this study, nonlinear autoregressive exogenous
(NARX) models of a heavy-duty single-shaft gas turbine (GT) are
developed and validated. The GT is a power plant gas turbine
(General Electric PG 9351FA) located in Italy. The data used for
model development are three time series data sets of two different
maneuvers taken experimentally during the start-up procedure.
The resulting NARX models are applied to three other
experimental data sets and comparisons are made among four
significant outputs of the models and the corresponding measured
data. The results show that NARX models are capable of
satisfactory prediction of the GT behavior and can capture system
dynamics during start-up operation
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