Search results for "direction"
showing 10 items of 343 documents
A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 2: Energy Efficiency
2019
This research paper presents the second part of a comparative analysis of a novel self-contained electro-hydraulic cylinder with passive load-holding capability against a state of the art, valve-controlled hydraulic system that is typically used in load-carrying applications. After addressing the control design and motion performance in the first part of the study, the comparison is now focused on the systems&rsquo
A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 1: Motion Control
2019
This research paper presents the first part of a comparative analysis of a novel self-contained electro-hydraulic cylinder with passive load-holding capability against a state of the art, valve-controlled actuation system that is typically used in load-carrying applications. The study is carried out on a single-boom crane with focus on the control design and motion performance analysis. First, a model-based design approach is carried out to derive the control parameters for both actuation systems using experimentally validated models. The linear analysis shows that the new drive system has higher gain margin, allowing a considerably more aggressive closed-loop position controller. Several b…
Adapted Approach for Omnidirectional Egomotion Estimation
2011
Egomotion estimation is based principally on the estimation of the optical flow in the image. Recent research has shown that the use of omnidirectional systems with large fields of view allow overcoming the limitation presented in planar-projection imagery in order to address the problem of motion analysis. For omnidirectional images, the 2D motion is often estimated using methods developed for perspective images. This paper adapts motion field calculated using adapted method which takes into account the distortions existing in the omnidirectional image. This 2D motion field is then used as input to the egomotion estimation process using spherical representation of the motion equation. Expe…
Scale invariant line matching on the sphere
2013
International audience; This paper proposes a novel approach of line matching across images captured by different types of cameras, from perspective to omnidirectional ones. Based on the spherical mapping, this method utilizes spherical SIFT point features to boost line matching and searches line correspondences using an affine invariant measure of similarity. It permits to unify the commonest cameras and to process heterogeneous images with the least distortion of visual information.
Gradient-based time to contact on paracatadioptric camera
2013
International audience; The problem of time to contact or time to collision (TTC) estimation is largely discussed in perspective images. However, a few works have dealt with images of catadioptric sensors despite of their utility in robotics applications. The objective of this paper is to develop a novel model for estimating TTC with catadioptric images relative to a planar surface, and to demonstrate that TTC can be estimated only with derivative brightness and image coordinates. This model, called "gradient based time to contact", does not need high processing such as explicit estimation of optical flow and feature detection/or tracking. The proposed method allows to estimate TTC and give…
Design and Calibration of a Specialized Polydioptric Camera Rig
2017
International audience; It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation problems on uneven terrains and detection of the moving objects while the robot is itself in motion are the core problems that omnidirectional systems tackle. The proposed omnidirectional system is a compact and a rigid vision system with dioptric cameras that provide a 360° f…
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…
A Fast Multiresolution Approach Useful for Retinal Image Segmentation
2018
Retinal diseases such as retinopathy of prematurity (ROP), diabetic and hypertensive retinopathy present several deformities of fundus oculi which can be analyzed both during screening and monitoring such as the increase of tortuosity, lesions of tissues, exudates and hemorrhages. In particular, one of the first morphological changes of vessel structures is the increase of tortuosity. The aim of this work is the enhancement and the detection of the principal characteristics in retinal image by exploiting a non-supervised and automated methodology. With respect to the well-known image analysis through Gabor or Gaussian filters, our approach uses a filter bank that resembles the “à trous” wav…
In Situ, Light-Guided Axon Growth on Biomaterials via Photoactivatable Laminin Peptidomimetic IK(HANBP)VAV
2018
The ability to guide the growth of neurites is relevant for reconstructing neural networks and for nerve tissue regeneration. Here, a biofunctional hydrogel that allows light-based directional control of axon growth in situ is presented. The gel is covalently modified with a photoactivatable derivative of the short laminin peptidomimetic IKVAV. This adhesive peptide contains the photoremovable group 2-(4′-amino-4-nitro-[1,1′-biphenyl]-3-yl)propan-1-ol (HANBP) on the Lys rest that inhibits its activity. The modified peptide is highly soluble in water and can be simply conjugated to -COOH containing hydrogels via its terminal -NH 2 group. Light exposure allows presentation of the IKVAV adhesi…
Activation of Corticothalamic Layer 6 Cells Decreases Angular Tuning in Mouse Barrel Cortex.
2019
In the mouse whisker system, the contribution of L6 corticothalamic cells (L6 CT) to cortical and thalamic processing of the whisker deflection direction was investigated. A genetically defined population of L6 CT cells project to infragranular GABAergic interneurons that hyperpolarize neurons in somatosensory barrel cortex (BC). Optogenetic activation of these neurons switched BC to an adapted mode in which excitatory cells lost their angular tuning. In contrast, however, this was not the case with a general activation of inhibitory interneurons via optogenetic activation of Gad2-expressing cells. The decrease in angular tuning, when L6 CT cells were activated, was due to changes in cortic…