Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447620
S. Nabulsi, J. Sarria, M. Armada
Force sensing is an important issue for the control of legged robots. In this paper an indirect force measurement for hydraulic walking robots is presented. The test case is ROBOCLIMBER, a bulky, quadruped climbing and walking machine whose weighty legs enable it to carry out heavy-duty drilling operations. The paper shows how the placement of pressure transducers at both ends of the double effect hydraulic jacks allows measuring indirectly the contact forces between the feet and the ground. Several experiments are carried out to calibrate all sensors within their operational range of interest. Because of dynamic properties of hydraulic cylinders friction modelling is an important task to be carried out in order to determine at all times the true forces of the feet against the soil. After calibration and friction modelling, sensors are subjected to experimental performance evaluation.
{"title":"Indirect Force Measurement for Hydraulic Walking Robot","authors":"S. Nabulsi, J. Sarria, M. Armada","doi":"10.1109/WISP.2007.4447620","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447620","url":null,"abstract":"Force sensing is an important issue for the control of legged robots. In this paper an indirect force measurement for hydraulic walking robots is presented. The test case is ROBOCLIMBER, a bulky, quadruped climbing and walking machine whose weighty legs enable it to carry out heavy-duty drilling operations. The paper shows how the placement of pressure transducers at both ends of the double effect hydraulic jacks allows measuring indirectly the contact forces between the feet and the ground. Several experiments are carried out to calibrate all sensors within their operational range of interest. Because of dynamic properties of hydraulic cylinders friction modelling is an important task to be carried out in order to determine at all times the true forces of the feet against the soil. After calibration and friction modelling, sensors are subjected to experimental performance evaluation.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132751256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447573
P. Núñez, R. Vázquez, J. del Toro, A. Bandera, F. Sandoval
Landmark extraction is an essential task for robot navigation which not only requires an effective measure, but also the characterisation of landmarks to reduce the subsequent data association ambiguity. This paper describes a new method to detect natural landmarks from the adaptively estimated curvature function associated to 2D laser scans. This set of landmarks is composed of items associated to real and virtual features of the environment (corners, center of tree-like objects, line segments and edges). A novelty of the proposed system is that, for each landmark, characterisation provides not only the parameter vector, but also complete statistical information. Experimental results show the effectiveness of this method to deal with structured environments.
{"title":"A Curvature based Method to Extract Natural Landmarks for Mobile Robot Navigation","authors":"P. Núñez, R. Vázquez, J. del Toro, A. Bandera, F. Sandoval","doi":"10.1109/WISP.2007.4447573","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447573","url":null,"abstract":"Landmark extraction is an essential task for robot navigation which not only requires an effective measure, but also the characterisation of landmarks to reduce the subsequent data association ambiguity. This paper describes a new method to detect natural landmarks from the adaptively estimated curvature function associated to 2D laser scans. This set of landmarks is composed of items associated to real and virtual features of the environment (corners, center of tree-like objects, line segments and edges). A novelty of the proposed system is that, for each landmark, characterisation provides not only the parameter vector, but also complete statistical information. Experimental results show the effectiveness of this method to deal with structured environments.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134043953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447649
F. Álvarez, J. Ureña, A. Hernández, A. Jiménez, C. De Marziani, J. M. Villadangos, M.C. Perez
Signal coding and pulse compression provide ultrasonic systems with the capability to obtain accurate measurements that are nearly independent of the conditions of operation. This property, together with the high robustness to noise also achieved with these techniques, are making possible the development of high reliability systems intended for outdoor operation. However, these systems must face new problems not found indoors, such as the effect of atmospheric turbulence on the shape of the emitted waveforms. This work presents a comparative analysis of the performance of different codes that are used to encode the signals of an ultrasonic sensory system designed to operate under strong turbulence conditions.
{"title":"Detecting ultrasonic signals in a turbulent atmosphere: performance of different codes","authors":"F. Álvarez, J. Ureña, A. Hernández, A. Jiménez, C. De Marziani, J. M. Villadangos, M.C. Perez","doi":"10.1109/WISP.2007.4447649","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447649","url":null,"abstract":"Signal coding and pulse compression provide ultrasonic systems with the capability to obtain accurate measurements that are nearly independent of the conditions of operation. This property, together with the high robustness to noise also achieved with these techniques, are making possible the development of high reliability systems intended for outdoor operation. However, these systems must face new problems not found indoors, such as the effect of atmospheric turbulence on the shape of the emitted waveforms. This work presents a comparative analysis of the performance of different codes that are used to encode the signals of an ultrasonic sensory system designed to operate under strong turbulence conditions.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116710621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447575
Zheng Chen, S. Lu
In this paper, we propose a method for classifying textures using Genetic Programming (GP). Texture features are extracted from the energy of subimages of the wavelet decomposition. The GP is then used to evolve rules, which are arithmetic combinations of energy features, to identify whether a texture image belongs to certain class. Instead of using only one rule to discriminate the samples, a set of rules are used to perform the prediction by applying the majority voting technique. In our experiment results based on Brodatz dataset, the proposed method has achieved 99.6% test accuracy on an average. In addition, the experiment results also show that classification rules generated by this approach are robust to some noises on textures.
{"title":"A Genetic Programming Approach for Classification of Textures Based on Wavelet Analysis","authors":"Zheng Chen, S. Lu","doi":"10.1109/WISP.2007.4447575","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447575","url":null,"abstract":"In this paper, we propose a method for classifying textures using Genetic Programming (GP). Texture features are extracted from the energy of subimages of the wavelet decomposition. The GP is then used to evolve rules, which are arithmetic combinations of energy features, to identify whether a texture image belongs to certain class. Instead of using only one rule to discriminate the samples, a set of rules are used to perform the prediction by applying the majority voting technique. In our experiment results based on Brodatz dataset, the proposed method has achieved 99.6% test accuracy on an average. In addition, the experiment results also show that classification rules generated by this approach are robust to some noises on textures.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124699035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447501
M. Baker, J. Chicharo, J. Xi
Analysis of the impact of temporal gamma luminance on Fourier transform profllometry (FTP) digital video projection (DVP) based structured light profilometers is undertaken. We investigate the spectral harmonic structure for typical DVP fringe images linking projector gamma and 2nd order fringe harmonics. The validity of the presented study is verified through simulation, and subsequently we conclude that for typical projector 7, the 2nd order harmonic is the single most significant contribution to reconstruction error for the phase measuring technique. The impact of our analysis is further gauged by empirical measurement of the temporal variation of gamma of a DVP device.
{"title":"An Investigation into Temporal Gamma Luminance for Digital Fringe Fourier Transform Profilometers","authors":"M. Baker, J. Chicharo, J. Xi","doi":"10.1109/WISP.2007.4447501","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447501","url":null,"abstract":"Analysis of the impact of temporal gamma luminance on Fourier transform profllometry (FTP) digital video projection (DVP) based structured light profilometers is undertaken. We investigate the spectral harmonic structure for typical DVP fringe images linking projector gamma and 2nd order fringe harmonics. The validity of the presented study is verified through simulation, and subsequently we conclude that for typical projector 7, the 2nd order harmonic is the single most significant contribution to reconstruction error for the phase measuring technique. The impact of our analysis is further gauged by empirical measurement of the temporal variation of gamma of a DVP device.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124927963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447526
T. Nasilowski, F. Berghmans, T. Geernaert, K. Chah, J. Van Erps, G. Statkiewicz, M. Szpulak, J. Olszewski, G. Golojuch, T. Martynkien, W. Urbańczyk, P. Mergo, M. Makara, J. Wojcik, C. Chojetzki, H. Thienpont
Fast, frequent, accurate and reliable measurements of physical quantities such as temperature, stress or strain are known to be of utmost importance in areas such as process industry or structural health monitoring. Photonic crystal fibres (PCF) (Bjarklev et al., 2003) constitute a class of optical fibres that has a large potential for a number of novel applications in the sensing domain. The manufacturing flexibility of PCF allows fabricating different types of specialty microstructured fibres including endlessly single mode, double clad, germanium or rare earth doped, highly birefringent, and many other fibres with particular features. In this paper we analyse several of these and describe how they can be exploited for sensing applications. We pay particular attention to temperature and hydrostatic pressure sensitivities. We also report on new microstructure geometries dedicated to sensing applications and on Bragg gratings written in highly birefringent photonic crystal fibre.
快速、频繁、准确和可靠地测量物理量，如温度、应力或应变，在过程工业或结构健康监测等领域至关重要。光子晶体光纤(PCF) (Bjarklev et al.， 2003)构成了一类光纤，在传感领域具有许多新应用的巨大潜力。PCF的制造灵活性允许制造不同类型的特殊微结构纤维，包括无限单模、双包层、锗或稀土掺杂、高双折射和许多其他具有特定特征的纤维。在本文中，我们分析了其中的几个，并描述了如何利用它们进行传感应用。我们特别注意温度和静水压力敏感性。我们还报道了用于传感应用的新型微观结构几何形状和用高双折射光子晶体光纤编写的Bragg光栅。
{"title":"Sensing with photonic crystal fibres","authors":"T. Nasilowski, F. Berghmans, T. Geernaert, K. Chah, J. Van Erps, G. Statkiewicz, M. Szpulak, J. Olszewski, G. Golojuch, T. Martynkien, W. Urbańczyk, P. Mergo, M. Makara, J. Wojcik, C. Chojetzki, H. Thienpont","doi":"10.1109/WISP.2007.4447526","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447526","url":null,"abstract":"Fast, frequent, accurate and reliable measurements of physical quantities such as temperature, stress or strain are known to be of utmost importance in areas such as process industry or structural health monitoring. Photonic crystal fibres (PCF) (Bjarklev et al., 2003) constitute a class of optical fibres that has a large potential for a number of novel applications in the sensing domain. The manufacturing flexibility of PCF allows fabricating different types of specialty microstructured fibres including endlessly single mode, double clad, germanium or rare earth doped, highly birefringent, and many other fibres with particular features. In this paper we analyse several of these and describe how they can be exploited for sensing applications. We pay particular attention to temperature and hydrostatic pressure sensitivities. We also report on new microstructure geometries dedicated to sensing applications and on Bragg gratings written in highly birefringent photonic crystal fibre.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122652882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447555
A. Otero, P. Félix, F. Palacios, C. Pérez-Gandía, C. Sorzano
This work presents a proposal for creating intelligent alarms that offer more efficient support to medical staff than the threshold alarms currently available in commercial monitors. Our alarms make it possible to handle the uncertainty and imprecision that are characteristic of the medical domain, reason over the temporal evolution of physiological variables, and incorporate information from a number of variables into one single alarm. The proposal is based on a structural pattern recognition model (the MFTP model) which allows certain monitoring criteria in a computational representation to be captured and identified over the evolution of patients' physiological variables. The description of the criteria is carried out using a graphical tool (TRACE), which is sufficiently intuitive to be used by physicians without the need for assistance.
{"title":"Intelligent alarms for patient supervision","authors":"A. Otero, P. Félix, F. Palacios, C. Pérez-Gandía, C. Sorzano","doi":"10.1109/WISP.2007.4447555","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447555","url":null,"abstract":"This work presents a proposal for creating intelligent alarms that offer more efficient support to medical staff than the threshold alarms currently available in commercial monitors. Our alarms make it possible to handle the uncertainty and imprecision that are characteristic of the medical domain, reason over the temporal evolution of physiological variables, and incorporate information from a number of variables into one single alarm. The proposal is based on a structural pattern recognition model (the MFTP model) which allows certain monitoring criteria in a computational representation to be captured and identified over the evolution of patients' physiological variables. The description of the criteria is carried out using a graphical tool (TRACE), which is sufficiently intuitive to be used by physicians without the need for assistance.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123936509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447530
J. Zajacek, L. Grmela
The noise spectroscopy is used to determinate quality and reliability of semiconductor materials. We have used the means of time-frequency analysis for processing of long time duration stochastic signal. Tree-structured FIR filter bank implemented in a recursive way for octave dividing frequency band was designed as full parallel computational algorithm for power spectral density estimation. In the very low frequency area we will obtain high resolution and low level variance of PSD.
{"title":"The Sub-Band decomposition of Fluctuated signals for the Estimation of Power Spectra","authors":"J. Zajacek, L. Grmela","doi":"10.1109/WISP.2007.4447530","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447530","url":null,"abstract":"The noise spectroscopy is used to determinate quality and reliability of semiconductor materials. We have used the means of time-frequency analysis for processing of long time duration stochastic signal. Tree-structured FIR filter bank implemented in a recursive way for octave dividing frequency band was designed as full parallel computational algorithm for power spectral density estimation. In the very low frequency area we will obtain high resolution and low level variance of PSD.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129759404","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447528
J. Blumenthal, Ralf Großmann, F. Golatowski, D. Timmermann, Friedrich-Barnewitz-Str
Localization in wireless sensor networks gets more and more important, because many applications need to locate the source of incoming measurements as precise as possible. Weighted centroid localization (WCL) provides a fast and easy algorithm to locate devices in wireless sensor networks. The algorithm is derived from a centroid determination which calculates the position of devices by averaging the coordinates of known reference points. To improve the calculated position in real implementations, WCL uses weights to attract the estimated position to close reference points provided that coarse distances are available. Due to the fact that Zigbee provides the link quality indication (LQI) as a quality indicator of a received packet, it can also be used to estimate a distance from a node to reference points.
{"title":"Weighted Centroid Localization in Zigbee-based Sensor Networks","authors":"J. Blumenthal, Ralf Großmann, F. Golatowski, D. Timmermann, Friedrich-Barnewitz-Str","doi":"10.1109/WISP.2007.4447528","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447528","url":null,"abstract":"Localization in wireless sensor networks gets more and more important, because many applications need to locate the source of incoming measurements as precise as possible. Weighted centroid localization (WCL) provides a fast and easy algorithm to locate devices in wireless sensor networks. The algorithm is derived from a centroid determination which calculates the position of devices by averaging the coordinates of known reference points. To improve the calculated position in real implementations, WCL uses weights to attract the estimated position to close reference points provided that coarse distances are available. Due to the fact that Zigbee provides the link quality indication (LQI) as a quality indicator of a received packet, it can also be used to estimate a distance from a node to reference points.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128264197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447619
A. Cano-García, J. Lázaro, P. Fernández
Radiometric calibration of a CCD camera is a first step when quantitative measurements for pixels values will be performed in order to extract scene characteristics. Usually, the radiometric behaviour of the camera can be modelled with a polynomial function obtained from a multi- image calibration method, which analyses several pictures taken with different exposition times. In this work, a simplification of a multi-images calibration method is proposed. The method is based on the comparison of grey values of two images only, showing that obtained results are comparables to the polynomic multi-image method. The proposed method was tested with the same images used for multi-image calibration method. Exposition times were estimated without an iterative scheme. Also a method and results for distance estimation, using inverse radiometric response function, are showed in this paper.
{"title":"Simplified Method for Radiometric Calibration of an Array Camera","authors":"A. Cano-García, J. Lázaro, P. Fernández","doi":"10.1109/WISP.2007.4447619","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447619","url":null,"abstract":"Radiometric calibration of a CCD camera is a first step when quantitative measurements for pixels values will be performed in order to extract scene characteristics. Usually, the radiometric behaviour of the camera can be modelled with a polynomial function obtained from a multi- image calibration method, which analyses several pictures taken with different exposition times. In this work, a simplification of a multi-images calibration method is proposed. The method is based on the comparison of grey values of two images only, showing that obtained results are comparables to the polynomic multi-image method. The proposed method was tested with the same images used for multi-image calibration method. Exposition times were estimated without an iterative scheme. Also a method and results for distance estimation, using inverse radiometric response function, are showed in this paper.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"402 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124587984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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