Robotics Commons^™

3d Bionic Arm, Anny Baez Silfa

Publications and Research

Previous work had been done on what was an adaptation of a robotic arm for Roboqueen, which is a persistent research project of the Department of Computer Engineering Technology. This robotic arm consisted of removing the cardboard hands from the Roboqueen and being replaced by 3D printed fingers and wrists to add functionality that did not exist before. Servo motors connected to Arduinos hidden in the forearm will be used to move the fingers and pick up and hold objects in the hand. Currently, the Finger Myoware is an update of the robotic arm in order to understand how prosthetic ...

The Ftc And Ai Governance: A Regulatory Proposal, Michael Spiro

Seattle Journal of Technology, Environmental & Innovation Law

No abstract provided.

Reinforcement Learning Approach For Inspect/Correct Tasks, Hoda Nasereddin

LSU Doctoral Dissertations

In this research, we focus on the application of reinforcement learning (RL) in automated agent tasks involving considerable target variability (i.e., characterized by stochastic distributions); in particular, learning of inspect/correct tasks. Examples include automated identification & correction of rivet failures in airplane maintenance procedures, and automated cleaning of surgical instruments in a hospital sterilization processing department. The location of defects and the corrective action to be taken for each varies from task episode. What needs to be learned are optimal stochastic strategies rather than optimization of any one single defect type and location. RL has been widely applied in ...

Extending The Functional Subnetwork Approach To A Generalized Linear Integrate-And-Fire Neuron Model, Nicholas Szczecinski, Roger Quinn, Alexander J. Hunt

Mechanical and Materials Engineering Faculty Publications and Presentations

Engineering neural networks to perform specific tasks often represents a monumental challenge in determining network architecture and parameter values. In this work, we extend our previously-developed method for tuning networks of non-spiking neurons, the “Functional subnetwork approach” (FSA), to the tuning of networks composed of spiking neurons. This extension enables the direct assembly and tuning of networks of spiking neurons and synapses based on the network’s intended function, without the use of global optimization ormachine learning. To extend the FSA, we show that the dynamics of a generalized linear integrate and fire (GLIF) neuronmodel have fundamental similarities to those ...

3d-Printed Leg Design And Modification For Improved Support On A Quadruped Robot, Jasmin S. Collins

Undergraduate Research & Mentoring Program

The Agile and Adaptive Robotics Lab aims to uncover the biological and physiological complexities in animal agility and adaptive control, which can be replicated through robotics and provide further applications in biology and medicine. One project within the lab focuses on understanding structure, actuation, and control through the modeling of a canine quadruped robot.

The AARL has developed a full-body quadruped robot with artificial muscles that control limb movement and a body that is built from 3D-printed parts. This specific project involved modification of these existing parts to (a) minimize deflections in the front legs, causing unwanted lateral and abduction ...

Specially Designed Multi-Functional Search And Rescue Robot, Khabibullo Kh Nosirov, A.Sh. Shakhobiddinov, Mukhriddin Arabboev, Shohruh Begmatov, O.T. Togaev

Bulletin of TUIT: Management and Communication Technologies

In digital era, robots are becoming an integral part of human life due to their efficiency and high performance. In recent years, search and rescue robot systems are used tremendously in a natural disaster. Nowadays, many areas of the world are getting affected due to natural disasters. Disasters can be exceptional and unstoppable events that are either man-made or natural, such as building collapse, earthquakes, wildfires, and floods, etc. This witnesses the importance of search and rescue robot systems in the emergency field. In the emergency field, a variety of sensing and wireless technologies are used in remote and vision ...

Evaluating The Potential Of Drone Swarms In Nonverbal Hri Communication, Kasper Grispino, Damian Lyons, Truong-Huy Nguyen

Faculty Publications

Human-to-human communications are enriched with affects and emotions, conveyed, and perceived through both verbal and nonverbal communication. It is our thesis that drone swarms can be used to communicate information enriched with effects via nonverbal channels: guiding, generally interacting with, or warning a human audience via their pattern of motions or behavior. And furthermore that this approach has unique advantages such as flexibility and mobility over other forms of user interface. In this paper, we present a user study to understand how human participants perceived and interpreted swarm behaviors of micro-drone Crazyflie quadcopters flying three different flight formations to bridge ...

Shot Boundary Detection In Videos Using Graph Cut Sets, Shanmukhappa Angadi, Vilas Naik

International Journal of Image Processing and Vision Science

The Shot Boundary Detection (SBD) is an early step for most of the video applications involving understanding, indexing, characterization, or categorization of video. The SBD is temporal video segmentation and it has been an active topic of research in the area of content based video analysis. The research efforts have resulted in a variety of algorithms. The major methods that have been used for shot boundary detection include pixel intensity based, histogram-based, edge-based, and motion vectors based, technique. Recently researchers have attempted use of graph theory based methods for shot boundary detection. The proposed algorithm is one such graph based ...

Image Segmentation Using Various Approaches, Snehal B. Ranit, Nileshsingh V. Thakur

International Journal of Image Processing and Vision Science

This paper addresses the issue of image segmentation. Image segmentation process is the main basic process or technique used in various image processing problem domains, for example, content based image retrieval; pattern recognition; object recognition; face recognition; medical image processing; fault detection in product industries; etc. Scope of improvement exists in the following areas: Image partitioning; color based feature; texture based feature, searching mechanism for similarity; cluster formation logic; pixel connectivity criterion; intelligent decision making for clustering; processing time; etc. This paper presents the image segmentation mechanism which addresses few of the identified areas where the scope of contribution exists ...

Efficient Morphological Analysis Using Arbitrary Structuring Elements For Security Purposes, Akansha Saxena, Santosh Kumar

International Journal of Image Processing and Vision Science

The term Mathematical Morphology (MM) mostly deals with the mathematical theory of describing shapes using sets. In morphology, images are represented as sets. This task is investigated by the interaction between an image and a certain chosen arbitrary structuring element using the basic operations of erosion and dilation. The various applications of morphologyinclude skeletonization, prunning, optical character recognition,image analysis,artifacts removal,boundary extraction, etc. It is further extended by the fact that mathematical morphology provides better quality image data for analysis and diagnostic purposes. The process is very efficient due to the use of MATLAB algorithmswhich are helpful for ...

Various Approaches Of Dynamic Modelling Of Biped Robotic System-A Review, Pradip Kumar Talapatra, Shakti Prasad Dash, P. Rakesh

International Journal of Image Processing and Vision Science

Humans are the most advanced creatures of the nature. Accordingly it can be stated that humanoid robots are the most advanced creatures of human beings. Among the man-made systems such as automobile, hand-phones and multimedia devices, robots of future will hopefully be the most ideal assistants to human beings. During several decades of research, development projects aimed at building bipedal and humanoid robots has been increasing at a rapid rate. A brief review of current activities in the development of bipedal humanoid robotics is provided in this paper. The dynamic modelling of biped robotic system in the current trend is ...

Wireless Ofdm Systems And Cross-Layer Optimization, Madhusmita Panda, Rajiv Ku. Dash

International Journal of Image Processing and Vision Science

The increasing popularity of wireless broadband services nowadays indicates that, future wireless systems will witness a rapid growth of high-data-rate applications with very diverse quality of service requirements. To support such applications under limited radio resources and harsh wireless channel conditions, dynamic resource allocation, which achieves both higher system spectral efficiency and better QoS, has been identified as one of the most promising techniques. In particular, jointly optimizing resource allocation across adjacent and even nonadjacent layers of the protocol stack leads to dramatic improvement in overall system performance. In this article an overview of recent research on dynamic resource allocation ...

Identification Of Tachycardia And Bradycardia Heart Disorders Using Wavelet Transform Based Qrs Detection, Anuja Das, Shreetam Behera, Tusarkanta Panda

International Journal of Image Processing and Vision Science

In the recent years Cardiac disorder is a very common problem faced by the people. The ECG is the most important test for the interpretation of cardiac abnormalities. The ECG gives the electrical activity of the human heart and by analyzing the deviation in these electrical activities, conclusion can be drawn. The study is divided into two parts. In the first part it deals with the detection of real time ECG waveform from the MIT-BIT Arrhythmia database and then these signals is further diagnosed by applying Wavelet Transform for R-peak detection. The second part of the study deals with the ...

Work Modeling For Categorization Of Late Potentials In Ecg Signals By Way Of Wavelets, P. V. Ramaraju Mr., Dr. V. Malleswara Rao

International Journal of Image Processing and Vision Science

Late potentials in ECG take place in the terminal portion of the QRS complex and are characterized by tiny amplitudes and larger frequencies. The occurrence of late potentials may signify underlying distribution of electrical activity of the cells in the heart, and provides a substrate for production of arrhythmias. The conventional Fourier transform does not readily localize these features in time and frequency. Short Time Fourier Transform (STFT) is added useful because the concentration of the signal energy at various times in the cardiac cycle is more readily identified. This STFT suffers from the problem of selecting the proper window ...

Source Separation Using Ica, P. Shivani Sahoo, A. Barik, Padmini Mishra

International Journal of Image Processing and Vision Science

Independent Component Analysis (ICA) is a statistical signal processing technique having emerging new practical application areas, such as blind signal separation such as mixed voices or images, analysis of several types of data or feature extraction. Fast independent component analysis (Fast ICA ) is one of the most efficient ICA technique. Fast ICA algorithm separates the independent sources from their mixtures by measuring non-gaussianity.In this paper we present a method that can separate the signals as individual channels from other channels and also remove the noise using fast ica algorithm. The method is to decompose a multi channel signal into ...

Integrated Low Light Image Enhancement In Transportation System, Sandeep Mishra, Abanikanta Pattanayak

International Journal of Image Processing and Vision Science

Recent Intelligent Transportation System (ITS) focuses on both traffic management and Homeland Security. It involves advance detection systems of all kind but proper analysis of the image data is required for controlling and further processing. It becomes even more difficult when it comes to low light images due to limitation in the image sensor and heavy amount of noise. An ITS supports all levels like (Transport policy level, Traffic control tactical level, Traffic control measure level, Traffic control operation). For this it uses several split systems like Real time passenger information (RTPI), Automatic Number Plate Recognition (ANPR), Variable message signs ...

Light Scattering Fenestration System, Badri Narayan Mohapatra, Rashmita Kumari Mohapatra

International Journal of Image Processing and Vision Science

Successful integration of day lighting systems requires the ability to predict their performance for given climates. In this, a bottom-up approach is applied to evaluate the optical performance of a selection of day lighting systems. The evaluations are based on the optical properties of the included materials, and focuses on developing new optical characterization methods. The work on characterization techniques uses an integrating sphere method to characterize the transmittance of light scattering samples more accurately. The method's principle is to reduce the discrepancy in light distribution between the reference and the sample scans by using an entry port beam ...

Performing Multiplications In Image Filtering Process Using Vedic Mathematics, Pranoti Y. Panchbhai, Dr. Nileshsingh V. Thakur

International Journal of Image Processing and Vision Science

Image filtering is a very important step in image processing. Filtering involves lots of multiplications which consumes time. Time required increases with the increase in the number of pixels. This paper proposes an approach for image filtering using Vedic Mathematic which performs faster multiplication compared to the conventional algorithms namely Booth 2, Booth 3 and Array Multiplication Algorithm thus reducing the time required for filtering of images. Experimentation is done using C language. Time required by the algorithms for filtering are then compared using the experimental results.

Handwritten Signature Verification Based On The Use Of Gray Level Values, P. Ramesh, P. Nageswara Rao

International Journal of Image Processing and Vision Science

Recently several papers have appeared in the literature which propose pseudo-dynamic features for automatic static handwritten signature verification based on the use of gray level values from signature stroke pixels. Good results have been obtained using rotation invariant uniform local binary patterns LBP plus LBP and statistical measures from gray level co-occurrence matrices (GLCM) with MCYT and GPDS offline signature corpuses. In these studies the corpuses contain signatures written on a uniform white “nondistorting” background, however the gray level distribution of signature strokes changes when it is written on a complex background, such as a check or an invoice. The ...

An Efficient Approach For Content Based Retrieval Using Multi Wavelet And Hsv Color Space, E. Venkateswarlu, K. Soundara Rajan

International Journal of Image Processing and Vision Science

This paper presents an approach for image retrieval by using multiwavelet and hsv color space. The HSV stands for the Hue, Saturation and Value, provides the perception representation according with human visual feature. The multiwavelets offer simultaneous orthogonality, symmetry and short support. In this paper, we have tested 140 images with 5 different categories. the experimental results show the better results interms of retrieval accuracy and computation complexity. The performance of this approach is measured and results are shown. Euclidean Distance and Canberra Distance are used as similarity measure in the proposed CBIR system.