Search results for " Detection"
showing 10 items of 1676 documents
Chemical host detection and differential attraction in a parasitic pea crab infecting two echinoids
2011
Mechanisms of host detection and host choice are important for mobile parasites or symbionts that frequently move among host individuals. The parasitic pea crab Dissodactylus primitivus is an ectoparasite exploiting asymmetrically two spatangoid echinoid hosts, Meoma ventricosa and Plagiobrissus grandis. The entire life cycle takes place on M. ventricosa, while only adults colonize P. grandis, the host where female's fecundity is the greatest. Dissodactylus primitivus frequently exhibits host-switching, a behaviour that raises the question of host detection. To test if adult crabs are able to detect potential hosts and are attracted to the host where their fitness is greater, crab olfactory…
Protocol for the Definition of a Multi-Spectral Sensor for Specific Foliar Disease Detection: Case of “Flavescence Dorée”
2018
Flavescence Doree (FD) is a contagious and incurable grapevine disease that can be perceived on leaves. In order to contain its spread, the regulations obligate winegrowers to control each plant and to remove the suspected ones. Nevertheless, this monitoring is performed during the harvest and mobilizes many people during a strategic period for viticulture. To solve this problem, we aim to develop a Multi-Spectral (MS) imaging device ensuring an automated grapevine disease detection solution. If embedded on a UAV, the tool can provide disease outbreaks locations in a geographical information system allowing localized and direct treatment of infected vines. The high-resolution MS camera aims…
The cork viewed from the inside
2015
International audience; Cork is the natural material stripped from the outer bark of cork oak. It is still the most used stopper to seal wine bottles and to preserve wine during storage. Cork stoppers are sorted in different classes according to apparent defects, named lenticels, which can be related to the cork macroporosity. The more lenticels there are, the worst cork quality is. The present work aims at investigating defects analysis of cork stoppers from two classes by comparing images recorded by digital photography and neutron imaging. Surface analysis of defects obtained from photography leads to more surface defects in class 4 (6.7%) than in class 0 (4.1%). Neutron radiography and …
Robust Network Agreement on Logical Information
2011
Abstract Logical consensus is an approach to distributed decision making which is based on the availability of a network of agents with incomplete system knowledge. The method requires the construction of a Boolean map which defines a dynamic system allowing the entire network to consent on a unique, global decision. Previous work by the authors proved the method to be viable for applications such as intrusion detection within a structured environment, when the agent's communication topology is known in advance. The current work aims at providing a fully distributed protocol, requiring no a priori knowledge of each agent's communication neighbors. The protocol allows the construction of a r…
Multi-Component Fault Detection in Wind Turbine Pitch Systems Using Extended Park's Vector and Deep Autoencoder Feature Learning
2018
Pitch systems are among the wind turbine components with most frequent failures. This article presents a multicomponent fault detection for induction motors and planetary gearboxes of the electric pitch drives using only the three-phase motor line currents. A deep autoencoder is used to extract features from the extended Park's vector modulus of the motor three-phase currents and a support vector machine to classify faults. The methodology is validated in a laboratory setup of a scaled pitch drive, with four commonly occurring faults, namely, the motor stator turns fault, broken rotor bars fault, planetary gearbox bearing fault and planet gear faults, under varying load and speed conditions.
Cross-correlation of whitened vibration signals for low-speed bearing diagnostics
2019
Abstract Rolling-element bearings are crucial components in all rotating machinery, and their failure will initially degrade the machine performance, and later cause complete shutdown. The period between an initial crack and complete failure is short due to crack propagation. Therefore, early fault detection is important to avoid unexpected machine shutdown and to aid in maintenance scheduling. Bearing condition monitoring has been applied for several decades to detect incipient faults at an early stage. However, low-speed conditions pose a challenge for bearing fault diagnosis due to low fault impact energy. To reliably detect bearing faults at an early stage, a new method termed Whitened …
Scalability of GPU-Processed 3D Distance Maps for Industrial Environments
2018
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time …
Real-time human collision detection for industrial robot cells
2017
A collision detection system triggering on human motion was developed using the Robot Operating System (ROS) and the Point Cloud Library (PCL). ROS was used as the core of the programs and for the communication with an industrial robot. Combining the depths fields from the 3D cameras was accomplished by the use of PCL. The library was also the underlying tool for segmenting the human from the registrated point clouds. Benchmarking of several collision algorithms was done in order to compare the solution. The registration process gave satisfactory results when testing the repetitiveness and the accuracy of the implementation. The segmentation algorithm was able to segment a person represente…
Static and Dynamic Objects Analysis as a 3D Vector Field
2017
International audience; In the context of scene modelling, understanding, and landmark-based robot navigation, the knowledge of static scene parts and moving objects with their motion behaviours plays a vital role. We present a complete framework to detect and extract the moving objects to reconstruct a high quality static map. For a moving 3D camera setup, we propose a novel 3D Flow Field Analysis approach which accurately detects the moving objects using only 3D point cloud information. Further, we introduce a Sparse Flow Clustering approach to effectively and robustly group the motion flow vectors. Experiments show that the proposed Flow Field Analysis algorithm and Sparse Flow Clusterin…
An Input Observer-Based Stiffness Estimation Approach for Flexible Robot Joints
2020
This letter addresses the stiffness estimation problem for flexible robot joints, driven by variable stiffness actuators in antagonistic setups. Due to the difficulties of achieving consistent production of these actuators and the time-varying nature of their internal flexible elements, which are subject to plastic deformation over time, it is currently a challenge to precisely determine the total flexibility torque applied to a robot's joint and the corresponding joint stiffness. Herein, by considering the flexibility torque acting on each motor as an unknown signal and building upon Unknown Input Observer theory, a solution for electrically-driven actuators is proposed, which consists of …