Search results for "processing"

Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU

2014

In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according nullspace behavior together with a Cartesian impedance main control loop. The GPU algorithm creates a map representation that is quickly accessible. In addition, outliers and the robot structure are efficiently removed from the data, and the resolution of the representation can be easily ad…

HDR-­ARtiSt: a FPGA-­based Smart Camera for High Dynamic Range color video from multiple exposures

2014

International audience; A camera is able to capture only a part of a high dynamic range scene information. The same scene can be fully perceived by the human visual system. This is true especially for real scenes where the difference in light intensity between the dark areas and bright areas is high. The imaging technique which can overcome this problem is called HDR (High Dynamic Range). It produces images from a set of multiple LDR images (Low Dynamic Range), captured with different exposure times. This technique appears as one of the most appropriate and a cheap solution to enhance the dynamic range of captured environments. We developed an FPGA-based smart camera that produces a HDR liv…

UNE APPROCHE PARALLELE D'EVALUATION DES PARAMETRES DE TEXTURE POUR L'ANALYSE D'IMAGES DE GRANDE TAILLE

2011

International audience; The main objective of this paper is to develop a new image processing technique that could better be adapted to the processing of large and complex images, especially SAR images, in relation to the former methods of our works. We propose here a new approach of textural parameters evaluation which is about (Ng+1)n-1 times faster than the co-occurrence matrix approach considered as classical, where n is the order of the textural parameter and Ng being the maximum grey level in the image. This approach is based on a new modeling of textural parameters of a generic order n>1 equivalent to the classical formulation, but which is no longer based on frequency matrix (co-occ…

Enabling Energy Savings in Offshore Mechatronic Systems by using Self-Contained Cylinders

2019

This paper proposes a novel actuation system for an offshore drilling application. It consists of three self-contained electro-hydraulic cylinders that can share and store regenerated energy. The energy saving potential of the proposed solution is analyzed through a multibody system simulation. The self-contained system demonstrates superior energy efficiency compared to the benchmark system representing the state-of-the-art approach used today (i.e., valve-controlled cylinders by means of pressure-compensated directional control valves and counter-balance valves, supplied by a centralized hydraulic power unit). Due to the power on demand capability, the cancellation of the throttling losse…

Giving patients secure " google-like " access to their medical record

2008

International audience; The main problem for the patient who wants to have access to all of the information about his health is that this information is very often spread over many medical records. Therefore, it would be convenient for the patient, after being identified and authenticated, to use a kind of specific medical search engine as one part of the solution to this main problem. The principal objective is for the patient to have access to his or her medical information at anytime and wherever it has been stored. This proposal for secure "Google Like" access requires the addition of different conditions: very strict identity checks using cryptographic techniques such as those planned …

Noisy Channel in Language-Pair Phenomena Identification

2014

Iterative Learning Applied to Hydraulic Pressure Control

2018

This paper addresses a performance limiting phenomenon that may occur in the pressure control of hydraulic actuators subjected to external velocity disturbances. It is demonstrated that under certain conditions a severe peaking of the control error may be observed that significantly degrades the performance of the system due to the presence of nonlinearities. The phenomenon is investigated numerically and experimentally using a system that requires pressure control of two hydraulic cylinders. It is demonstrated that the common solution of feed forwarding the velocity disturbance is not effective in reducing the peaking that occurs as a result of this phenomenon. To improve the system perfor…

On Prefix Normal Words

2011

We present a new class of binary words: the prefix normal words. They are defined by the property that for any given length $k$, no factor of length $k$ has more $a$'s than the prefix of the same length. These words arise in the context of indexing for jumbled pattern matching (a.k.a. permutation matching or Parikh vector matching), where the aim is to decide whether a string has a factor with a given multiplicity of characters, i.e., with a given Parikh vector. Using prefix normal words, we give the first non-trivial characterization of binary words having the same set of Parikh vectors of factors. We prove that the language of prefix normal words is not context-free and is strictly contai…

Permutations of zero-sumsets in a finite vector space

2020

Abstract In this paper, we consider a finite-dimensional vector space 𝒫 {{\mathcal{P}}} over the Galois field GF ⁡ ( p ) {\operatorname{GF}(p)} , with p being an odd prime, and the family ℬ k x {{\mathcal{B}}_{k}^{x}} of all k-sets of elements of 𝒫 {\mathcal{P}} summing up to a given element x. The main result of the paper is the characterization, for x = 0 {x=0} , of the permutations of 𝒫 {\mathcal{P}} inducing permutations of ℬ k 0 {{\mathcal{B}}_{k}^{0}} as the invertible linear mappings of the vector space 𝒫 {\mathcal{P}} if p does not divide k, and as the invertible affinities of the affine space 𝒫 {\mathcal{P}} if p divides k. The same question is answered also in the case where …

THE SCENOGRAPHY OF SERPOTTA STUCCOES REVISITED - MATERIAL AND FORM

2015

The material that lies beneath the smooth shining surface of the stuccoes of the Serpotta family who used to work in Sicily from 1670 to 1730, has been thoroughly studied in previous papers, disclosing the deep, albeit empirical, knowledge of materials science that guided the artists in creating their masterpieces. In this work, attention is focused on the solid perspective and on the scenographic sculpture by Giacomo Serpotta, who is acknowledged as the leading exponent of the School. The study deals with some particular works of the artist, the “small-scaled plastic theatres”, so-called “teatrini”, which he made for the San Lorenzo Oratory in Palermo. On the basis of archival documents an…