Pub Date : 2009-07-02DOI: 10.5220/0002207002140221
A. Nabout, B. Tibken
The wavelet transformation is a well known method in several engineering fields. In image processing and pattern recognition the wavelet transformation is used for the recognition of object shapes by deriving so called wavelet descriptors. In this context the Mexican Hat as well as the Haar function were used as mother wavelets. To derive wavelet descriptors the methods use a periodical angle function derived from the contour polygon. The angle function describes an object shape by calculating the angle changes along the object contour beginning from a given starting point. Since object shapes are described by polygons, the angle function is step-shaped and therefore it includes discontinuity at the existing polygon corners. This causes big changes of the Haar wavelet descriptors if the positions of the polygon corners change due to small changes of the object shape. Such changes can be caused at least by digitalization or binarization errors. The Mexican Hat wavelet descriptors are more adapted and suffer however from small changes. In this paper we present the results of the comparison between both methods in there accurateness of describing object shapes.
{"title":"Comparison between Mexican Hat and Haar Wavelet Descriptors for Shape Representation","authors":"A. Nabout, B. Tibken","doi":"10.5220/0002207002140221","DOIUrl":"https://doi.org/10.5220/0002207002140221","url":null,"abstract":"The wavelet transformation is a well known method in several engineering fields. In image processing and pattern recognition the wavelet transformation is used for the recognition of object shapes by deriving so called wavelet descriptors. In this context the Mexican Hat as well as the Haar function were used as mother wavelets. To derive wavelet descriptors the methods use a periodical angle function derived from the contour polygon. The angle function describes an object shape by calculating the angle changes along the object contour beginning from a given starting point. Since object shapes are described by polygons, the angle function is step-shaped and therefore it includes discontinuity at the existing polygon corners. This causes big changes of the Haar wavelet descriptors if the positions of the polygon corners change due to small changes of the object shape. Such changes can be caused at least by digitalization or binarization errors. The Mexican Hat wavelet descriptors are more adapted and suffer however from small changes. In this paper we present the results of the comparison between both methods in there accurateness of describing object shapes.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127056338","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 : 2009-07-02DOI: 10.5220/0002191304010404
A. Histace, M. Ménard
Anisotropic regularization PDE’s (Partial Differential Equation) raised a strong interest in the field of image processing. The benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, we propose a PDE-based method restoration approach integrating a double-well potential as diffusive function. It is shown that this particular potential leads to a particular regularization PDE which makes it possible integration of prior knowledge about the gradients intensity level to restore. As a proof a feasibility, results of restoration are presented both on ad hoc and natural images to show potentialities of the proposed method.
{"title":"Double Well Potential as Diffusive Function for PDE-based Scalar Image Restoration Method","authors":"A. Histace, M. Ménard","doi":"10.5220/0002191304010404","DOIUrl":"https://doi.org/10.5220/0002191304010404","url":null,"abstract":"Anisotropic regularization PDE’s (Partial Differential Equation) raised a strong interest in the field of image processing. The benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, we propose a PDE-based method restoration approach integrating a double-well potential as diffusive function. It is shown that this particular potential leads to a particular regularization PDE which makes it possible integration of prior knowledge about the gradients intensity level to restore. As a proof a feasibility, results of restoration are presented both on ad hoc and natural images to show potentialities of the proposed method.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127889290","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 : 2009-07-02DOI: 10.5220/0002219903250330
Chun-Yuan Cheng, R. Guo, Mei-Ling Liu
Based on the theoretical model, a numerical method is usually necessary for obtaining the optimal preventive maintenance (PM) policy for a deteriorating system since the theoretical model becomes complicated when the system’s hazard rate function is changed after each PM. It makes the application of the theoretical model not suitable for real cases. Moreover, the theoretical model assumes using infinite time span to obtain the long-term expected number of failures. Yet, in reality, the deteriorating systems always have a finite life time. Hence, an optimal solution might not be resulted as compared to the infinite time span. Therefore, we consider using the simulation method to obtain a range of the near-optimal PM policy. The critical step of the simulation method for obtaining a near-optimal PM policy is the generation of the random variates (RV). In this research, three methods are developed to generate the required RVs of the time-between-failures (TBF) for the finite-time-span preventive maintenance model with age reduction effect. It is found that there are no significant differences among three proposed RV generating methods when comparing the dispersion of the generated RV’s. However, the rejection method is the simplest method for obtaining the near-optimal PM policies. Examples of the near-optimal PM policies are also presented in this paper.
{"title":"Random Variates Generating Methods of Time-between-failures for the Repairable Systems under Age-reduction Preventive Maintenance","authors":"Chun-Yuan Cheng, R. Guo, Mei-Ling Liu","doi":"10.5220/0002219903250330","DOIUrl":"https://doi.org/10.5220/0002219903250330","url":null,"abstract":"Based on the theoretical model, a numerical method is usually necessary for obtaining the optimal preventive maintenance (PM) policy for a deteriorating system since the theoretical model becomes complicated when the system’s hazard rate function is changed after each PM. It makes the application of the theoretical model not suitable for real cases. Moreover, the theoretical model assumes using infinite time span to obtain the long-term expected number of failures. Yet, in reality, the deteriorating systems always have a finite life time. Hence, an optimal solution might not be resulted as compared to the infinite time span. Therefore, we consider using the simulation method to obtain a range of the near-optimal PM policy. The critical step of the simulation method for obtaining a near-optimal PM policy is the generation of the random variates (RV). In this research, three methods are developed to generate the required RVs of the time-between-failures (TBF) for the finite-time-span preventive maintenance model with age reduction effect. It is found that there are no significant differences among three proposed RV generating methods when comparing the dispersion of the generated RV’s. However, the rejection method is the simplest method for obtaining the near-optimal PM policies. Examples of the near-optimal PM policies are also presented in this paper.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126976311","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 : 2009-07-01DOI: 10.5220/0002191600370043
Wenting Duan, N. Allinson
We describe a robust method for automatically rectifying the main facades of buildings from single images taken from short to medium distances. This utility is an important step in building recognition, photogrammetry and other 3D reconstruction applications. Our main contribution lies in a refinement technique for vanishing point estimation and building line grouping, since both significantly affect the location and warping of building facades. The method has been shown to work successfully on 96 of images from the Zubud-Zurich building database where images frequently contain occlusions, different illumination conditions and wide variations in viewpoint.
{"title":"Automatic Approach for Rectifying Building Facades from a Single Uncalibrated Image","authors":"Wenting Duan, N. Allinson","doi":"10.5220/0002191600370043","DOIUrl":"https://doi.org/10.5220/0002191600370043","url":null,"abstract":"We describe a robust method for automatically rectifying the main facades of buildings from single images taken from short to medium distances. This utility is an important step in building recognition, photogrammetry and other 3D reconstruction applications. Our main contribution lies in a refinement technique for vanishing point estimation and building line grouping, since both significantly affect the location and warping of building facades. The method has been shown to work successfully on 96 of images from the Zubud-Zurich building database where images frequently contain occlusions, different illumination conditions and wide variations in viewpoint.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130978835","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}
High levels of agility, maneuverability and the capability of operating in degraded visual environments and adverse weather conditions are the new trends of helicopter design nowadays. Helicopter flight control system should make these performance requirements achievable by improving tracking performance and disturbance rejection capability. Robustness is one of the critical issues which must be considered in the control system design for such highperformance autonomous helicopter, since any mathematical helicopter model, especially those covering large flight envelope, will unavoidably have uncertainty due to the empirical representation of aerodynamic forces and moments. The purpose of this chapter is to present the stabilization (tracking) with motion planning of a reduced-order helicopter model having 3DOF (Degrees Of Freedom) (see Fig.1). This last one represents a scale model helicopter mounted on an experimental platform. It deals with the problem of disturbance reconstruction acting on the autonomous helicopter, the disturbance consists in vertical wind gusts. The objective is to compensate these disturbances and to improve the performances of the control. Consequently, a nonlinear simple model with 3DOF of a helicopter with unknown disturbances is used. Three approaches of robust control are then compared via simulations: a robust nonlinear feedback control, an active disturbance rejection control based on a nonlinear extended state observer and a backstepping control. Design of control of autonomous flying systems has now become a very challenging area of research, as shown by a large literature (Beji & Abichou, 2005) (Frazzoli et al., 2000) (Koo & Sastry, 1998). Many previous works focus on (linear and nonlinear, robust, ...) control, including a particular attention on the analysis of the stability (Mahony & Hamel, 2004), but very few works have been made on the influence of wind gusts acting on the flying system, whereas it is a crucial problem for out-door applications, especially in urban environment: as a matter of fact, if the autonomous flying system (especially when this system is relatively slight) crosses a crossroads, it can be disturbed by wind gusts and leave its trajectory, which could be critical in a highly dense urban context. In (Martini et al., 2005) and (Martini et al., 2007a), three controllers (nonlinear,
高水平的敏捷性、机动性和在退化的视觉环境和恶劣天气条件下的作战能力是当今直升机设计的新趋势。直升机飞行控制系统应该通过改进跟踪性能和抗扰能力来实现这些性能要求。鲁棒性是高性能自主直升机控制系统设计中必须考虑的关键问题之一，因为任何数学直升机模型，特别是那些覆盖大飞行包线的模型，都不可避免地由于气动力和力矩的经验表示而具有不确定性。本章的目的是提出具有3DOF(自由度)的降阶直升机模型的稳定(跟踪)与运动规划(见图1)。这最后一个代表一个比例模型直升机安装在一个实验平台上。研究了作用在自主直升机上的扰动重建问题，该扰动主要表现为垂直阵风。目标是补偿这些干扰并改善控制的性能。因此，采用了一个具有未知扰动的直升机三维自由度非线性简单模型。然后通过仿真比较了三种鲁棒控制方法:鲁棒非线性反馈控制、基于非线性扩展状态观测器的自抗扰控制和反步控制。正如大量文献(Beji & Abichou, 2005) (Frazzoli et al.， 2000) (Koo & Sastry, 1998)所示，自主飞行系统的控制设计现在已经成为一个非常具有挑战性的研究领域。许多先前的工作集中在(线性和非线性，鲁棒，…)控制，包括对稳定性分析的特别关注(Mahony & Hamel, 2004)，但很少有关于阵风对飞行系统的影响的工作，而这是室外应用的关键问题，特别是在城市环境中:事实上，如果自动飞行系统(尤其是当这个系统相对较小的时候)穿过十字路口，它可能会受到阵风的干扰，并离开其轨道，这在高密度的城市环境中可能是至关重要的。在(Martini et al.， 2005)和(Martini et al.， 2007a)中，三个控制器(非线性，
{"title":"Robust and active trajectory tracking for an autonomous helicopter under wind gust","authors":"Adnan Martini, François Léonard, G. Abba","doi":"10.5772/5829","DOIUrl":"https://doi.org/10.5772/5829","url":null,"abstract":"High levels of agility, maneuverability and the capability of operating in degraded visual environments and adverse weather conditions are the new trends of helicopter design nowadays. Helicopter flight control system should make these performance requirements achievable by improving tracking performance and disturbance rejection capability. Robustness is one of the critical issues which must be considered in the control system design for such highperformance autonomous helicopter, since any mathematical helicopter model, especially those covering large flight envelope, will unavoidably have uncertainty due to the empirical representation of aerodynamic forces and moments. The purpose of this chapter is to present the stabilization (tracking) with motion planning of a reduced-order helicopter model having 3DOF (Degrees Of Freedom) (see Fig.1). This last one represents a scale model helicopter mounted on an experimental platform. It deals with the problem of disturbance reconstruction acting on the autonomous helicopter, the disturbance consists in vertical wind gusts. The objective is to compensate these disturbances and to improve the performances of the control. Consequently, a nonlinear simple model with 3DOF of a helicopter with unknown disturbances is used. Three approaches of robust control are then compared via simulations: a robust nonlinear feedback control, an active disturbance rejection control based on a nonlinear extended state observer and a backstepping control. Design of control of autonomous flying systems has now become a very challenging area of research, as shown by a large literature (Beji & Abichou, 2005) (Frazzoli et al., 2000) (Koo & Sastry, 1998). Many previous works focus on (linear and nonlinear, robust, ...) control, including a particular attention on the analysis of the stability (Mahony & Hamel, 2004), but very few works have been made on the influence of wind gusts acting on the flying system, whereas it is a crucial problem for out-door applications, especially in urban environment: as a matter of fact, if the autonomous flying system (especially when this system is relatively slight) crosses a crossroads, it can be disturbed by wind gusts and leave its trajectory, which could be critical in a highly dense urban context. In (Martini et al., 2005) and (Martini et al., 2007a), three controllers (nonlinear,","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123786931","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}
Nowadays production flows are modular, each module in the enterprise being specialized and used to achieve a particular task. In many cases the modules are interconnected and materials are sequentially processed in each module resulting a final, unique product or assembly. One typical such production module is a flexible cell/system using multiple robots. In such complex enterprise environments, providing continuous services for applications is a key component of a successful implementing of robotized manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned downtime of systems and applications. This is achieved by eliminating hardware and software single points of failure (SPOF). The systems configured for high availability are a combination of hardware and software components configured to work together to ensure automated recovery in case of failure with a minimal acceptable downtime. A high availability solution will ensure that the failure of any component of the solution either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. The chapter discusses the implementing of a high availability solution in a robotized manufacturing structure (cell, line). The solution is based on a High Availability Linux Cluster which is responsible for data availability and preservation on a NFS (Network File System) file system, and a second cluster – Fabrication Cluster (FC) which runs on Adept robot controllers, developed under the V+ programming language.
{"title":"An implementation of high availability in networked robotic systems","authors":"F. Anton, T. Borangiu, S. Anton","doi":"10.5772/5536","DOIUrl":"https://doi.org/10.5772/5536","url":null,"abstract":"Nowadays production flows are modular, each module in the enterprise being specialized and used to achieve a particular task. In many cases the modules are interconnected and materials are sequentially processed in each module resulting a final, unique product or assembly. One typical such production module is a flexible cell/system using multiple robots. In such complex enterprise environments, providing continuous services for applications is a key component of a successful implementing of robotized manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned downtime of systems and applications. This is achieved by eliminating hardware and software single points of failure (SPOF). The systems configured for high availability are a combination of hardware and software components configured to work together to ensure automated recovery in case of failure with a minimal acceptable downtime. A high availability solution will ensure that the failure of any component of the solution either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. The chapter discusses the implementing of a high availability solution in a robotized manufacturing structure (cell, line). The solution is based on a High Availability Linux Cluster which is responsible for data availability and preservation on a NFS (Network File System) file system, and a second cluster – Fabrication Cluster (FC) which runs on Adept robot controllers, developed under the V+ programming language.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121885483","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 : 2008-05-15DOI: 10.5220/0001491502080213
P. D. L. Puente, D. Rodríguez-Losada, L. Pedraza, F. Matía
We have developed a navigation system for a mobile robot that enables it to autonomously return to a start point after completing a route. It works efficiently even in complex, low structured and populated indoor environments. A point-based map of the environment is built as the robot explores new areas; it is employed for localization and obstacle avoidance. Points corresponding to dynamical objects are removed from the map so that they do not affect navigation in a wrong way. The algorithms and results we deem more relevant are explained in the paper.
{"title":"Robot Goes Back Home Despite All the People","authors":"P. D. L. Puente, D. Rodríguez-Losada, L. Pedraza, F. Matía","doi":"10.5220/0001491502080213","DOIUrl":"https://doi.org/10.5220/0001491502080213","url":null,"abstract":"We have developed a navigation system for a mobile robot that enables it to autonomously return to a start point after completing a route. It works efficiently even in complex, low structured and populated indoor environments. A point-based map of the environment is built as the robot explores new areas; it is employed for localization and obstacle avoidance. Points corresponding to dynamical objects are removed from the map so that they do not affect navigation in a wrong way. The algorithms and results we deem more relevant are explained in the paper.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134525814","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 : 2008-05-12DOI: 10.5220/0001476801450150
D. Matko, G. Klančar, S. Blažič, Olivier Simonin, Franck Gechter, Jean-Michel Contet, P. Gruer
A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. The platooning vehicles have non-holonomic constraints. The following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. The reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. The parameters of the polynominals are determined using the least-squares method. This parametric reference path is also used to determine the feed-forward part of the applied control algorithm. The feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orientation error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.
{"title":"The Application of Reference-path Control to Vehicle Platoons","authors":"D. Matko, G. Klančar, S. Blažič, Olivier Simonin, Franck Gechter, Jean-Michel Contet, P. Gruer","doi":"10.5220/0001476801450150","DOIUrl":"https://doi.org/10.5220/0001476801450150","url":null,"abstract":"A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. The platooning vehicles have non-holonomic constraints. The following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. The reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. The parameters of the polynominals are determined using the least-squares method. This parametric reference path is also used to determine the feed-forward part of the applied control algorithm. The feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orientation error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126380638","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 : 2008-05-11DOI: 10.5220/0001506403070310
Damien Chamaret, P. Richard, J. Ferrier
This paper presents and validates a new methodology for the efficient integration of CAD models in a physical-based virtual reality simulation. User interacts with virtual mock-up using a string-based haptic interface that may provides haptic sensation to both hands in a large workspace. Visual and tactile displays provide users with sensory feedback and improve both user performance and immersion. Stereoscopic images are displayed on a 2m x 2.5m retro-projected screen and viewed using polarized glasses. The proposed methodology implemented in a low-cost system, has been tested with an automotive application task. However, the presented approach is general enough to be applicable to a large variety of industrial
本文提出并验证了一种在基于物理的虚拟现实仿真中有效集成CAD模型的新方法。用户使用基于字符串的触觉界面与虚拟模型进行交互，该界面可以在大型工作空间中为双手提供触觉。视觉和触觉显示为用户提供感官反馈，提高用户性能和沉浸感。立体图像显示在2m x 2.5m的复古投影屏幕上，并使用偏光眼镜观看。所提出的方法已在低成本系统中实现，并已在汽车应用任务中进行了测试。然而，所提出的方法是通用的，足以适用于各种各样的工业
{"title":"From CAD Model to Human-scale Multimodal Interaction with Virtual Mock-up - An Automotive Application","authors":"Damien Chamaret, P. Richard, J. Ferrier","doi":"10.5220/0001506403070310","DOIUrl":"https://doi.org/10.5220/0001506403070310","url":null,"abstract":"This paper presents and validates a new methodology for the efficient integration of CAD models in a physical-based virtual reality simulation. User interacts with virtual mock-up using a string-based haptic interface that may provides haptic sensation to both hands in a large workspace. Visual and tactile displays provide users with sensory feedback and improve both user performance and immersion. Stereoscopic images are displayed on a 2m x 2.5m retro-projected screen and viewed using polarized glasses. The proposed methodology implemented in a low-cost system, has been tested with an automotive application task. However, the presented approach is general enough to be applicable to a large variety of industrial","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"73 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121193604","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 : 2008-05-11DOI: 10.5220/0001504902550262
U. Zimmermann, R. Bischoff, G. Grunwald, G. Plank, D. Reintsema
An integrated capacitance multiplier circuit utilizes a pair of field effect transistors, biased in a conducting state, as virtual resistances of a classic operational amplifier network for implementing a capacitance multiplier function. The two field effect transistors have different sizes from each other for attaining a given ON-resistance ratio. A biasing circuit provides independently adjustable biasing voltages for the two field effect transistors. At least one of the two biasing voltages produced by the biasing circuit can be made dependent on temperature according to a certain dependency law in order to exploit the capacitance multiplier circuit for temperature compensating an integrated RC circuit employing the virtual capacitance provided by the multiplier circuit.
{"title":"Communication, Configuration, Application - The Three Layer Concept for Plug-and-Produce","authors":"U. Zimmermann, R. Bischoff, G. Grunwald, G. Plank, D. Reintsema","doi":"10.5220/0001504902550262","DOIUrl":"https://doi.org/10.5220/0001504902550262","url":null,"abstract":"An integrated capacitance multiplier circuit utilizes a pair of field effect transistors, biased in a conducting state, as virtual resistances of a classic operational amplifier network for implementing a capacitance multiplier function. The two field effect transistors have different sizes from each other for attaining a given ON-resistance ratio. A biasing circuit provides independently adjustable biasing voltages for the two field effect transistors. At least one of the two biasing voltages produced by the biasing circuit can be made dependent on temperature according to a certain dependency law in order to exploit the capacitance multiplier circuit for temperature compensating an integrated RC circuit employing the virtual capacitance provided by the multiplier circuit.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133780291","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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