Search results for "Instrument"
showing 10 items of 5652 documents
Calibration of mobile manipulators using 2D positional features.
2018
International audience; Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathem…
A Comprehensive Survey of Indoor Localization Methods Based on Computer Vision
2020
Computer vision based indoor localization methods use either an infrastructure of static cameras to track mobile entities (e.g., people, robots) or cameras attached to the mobile entities. Methods in the first category employ object tracking, while the others map images from mobile cameras with images acquired during a configuration stage or extracted from 3D reconstructed models of the space. This paper offers an overview of the computer vision based indoor localization domain, presenting application areas, commercial tools, existing benchmarks, and other reviews. It provides a survey of indoor localization research solutions, proposing a new classification based on the configuration stage…
VARIABLE SELECTION FOR NOISY DATA APPLIED IN PROTEOMICS
2014
International audience; The paper proposes a variable selection method for pro-teomics. It aims at selecting, among a set of proteins, those (named biomarkers) which enable to discriminate between two groups of individuals (healthy and pathological). To this end, data is available for a cohort of individuals: the biological state and a measurement of concentrations for a list of proteins. The proposed approach is based on a Bayesian hierarchical model for the dependencies between biological and instrumental variables. The optimal selection function minimizes the Bayesian risk, that is to say the selected set of variables maximizes the posterior probability. The two main contributions are: (…
Fast ultrasonic phased array inspection of complex geometries delivered through robotic manipulators and high speed data acquisition instrumentation
2016
Performance of modern robotic manipulators has enabled research and development of fast automated non-destructive testing (NDT) systems for complex geometries. This paper presents recent outcomes of work aimed at removing the bottleneck due to data acquisition rates, to fully exploit the scanning speed of modern 6-DoF manipulators. State of the art ultrasonic instrumentation has been integrated into a large robot cell to enable fast data acquisition, high scan resolutions and accurate positional encoding. A fibre optic connection between the ultrasonic instrument and the server computer enables data transfer rates up to 1.6GB/s. Multiple data collection methods are compared. Performance of …
Automatic Acoustic Target Detecting and Tracking on the Azimuth Recording Diagram with Image Processing Methods
2019
International audience; Passive acoustic target detection has been a hot research topic for a few decades. Azimuth recording diagram is one of the most promising techniques to estimate the arrival direction of the interested signal by visualizing the sound wave information. However, this method is challenged by the random ambient noise, resulting in low reliability and short effective distance. This paper presents a real-time postprocessing framework for passive acoustic target detection modalities by using a sonar array, in which image processing methods are used to automate the target detecting and tracking on the azimuth recording diagram. The simulation results demonstrate that the prop…
Subjective Logic-Based In-Network Data Processing for Trust Management in Collocated and Distributed Wireless Sensor Networks
2018
While analyzing an explosive amount of data collected in today’s wireless sensor networks (WSNs), the redundant information in the sensed data needs to be handled. In-network data processing is a technique which can eliminate or reduce such redundancy, leading to minimized resource consumption. On the other hand, trust management techniques establish trust relationships among nodes and detect unreliable nodes. In this paper, we propose two novel in-network data processing schemes for trust management in static WSNs. The first scheme targets at networks, where sensor nodes are closely collocated to report the same event. Considering both spatial and temporal correlations, this scheme generat…
Kick Detection and Influx Size Estimation during Offshore Drilling Operations using Deep Learning
2019
An uncontrolled or unobserved influx or kick during drilling has the potential to induce a well blowout, one of the most harmful incidences during drilling both in regards to economic and environmental cost. Since kicks during drilling are serious risks, it is important to improve kick and loss detection performance and capabilities and to develop automatic flux detection methodology. There are clear patterns during a influx incident. However, due to complex processes and sparse instrumentation it is difficult to predict the behaviour of kicks or losses based on sensor data combined with physical models alone. Emerging technologies within Deep Learning are however quite adapt at picking up …
X-ray response of CdZnTe detectors grown by the vertical Bridgman technique: Energy, temperature and high flux effects
2016
Abstract Nowadays, CdZnTe (CZT) is one of the key materials for the development of room temperature X-ray and gamma ray detectors and great efforts have been made on both the device and the crystal growth technologies. In this work, we present the results of spectroscopic investigations on new boron oxide encapsulated vertical Bridgman (B-VB) grown CZT detectors, recently developed at IMEM-CNR Parma, Italy. Several detectors, with the same electrode layout (gold electroless contacts) and different thicknesses (1 and 2.5 mm), were realized: the cathode is a planar electrode covering the detector surface (4.1×4.1 mm2), while the anode is a central electrode (2×2 mm2) surrounded by a guard-rin…
Digital fast pulse shape and height analysis on cadmium-zinc-telluride arrays for high-flux energy-resolved X-ray imaging.
2017
Cadmium-zinc-telluride (CZT) arrays with photon-counting and energy-resolving capabilities are widely proposed for next-generation X-ray imaging systems. This work presents the performance of a 2â...mm-thick CZT pixel detector, with pixel pitches of 500 and 250â...μm, dc coupled to a fast and low-noise ASIC (PIXIE ASIC), characterized only by the preamplifier stage. A custom 16-channel digital readout electronics was used, able to digitize and process continuously the signals from each output ASIC channel. The digital system performs on-line fast pulse shape and height analysis, with a low dead-time and reasonable energy resolution at both low and high fluxes. The spectroscopic response …
Dual-polarity pulse processing and analysis for charge-loss correction in cadmium–zinc–telluride pixel detectors
2018
Charge losses at the inter-pixel gap are typical drawbacks in cadmium–zinc–telluride (CZT) pixel detectors. In this work, an original technique able to correct charge losses occurring after the application of charge-sharing addition (CSA) is presented. The method, exploiting the strong relation between the energy after CSA and the beam position at the inter-pixel gap, allows the recovery of charge losses and improvements in energy resolution. Sub-millimetre CZT pixel detectors were investigated with both uncollimated radiation sources and collimated synchrotron X-rays, at energies below and above the K-shell absorption energy of the CZT material. The detectors are DC coupled to fast and low…