Artificial landmark-based underwater localization for AUVs using weighted template matching

This paper deals with vision-based localization techniques in structured underwater environments. For underwater robots, accurate localization is necessary to perform complex missions successfully, but few sensors are available for accurate localization in the underwater environment. Among the available sensors, cameras are very useful for performing short-range tasks despite harsh underwater conditions including low visibility, noise, and large areas of featureless scene. To mitigate these problems, we design artificial landmarks to be utilized with a camera for localization, and propose a novel vision-based object detection technique and apply it to the Monte Carlo localization (MCL) algorithm, a map-based localization technique. In the image processing step, a novel correlation coefficient using a weighted sum, multiple-template-based object selection, and color-based image segmentation methods are proposed to improve the conventional approach. In the localization step, to apply the landmark detection results to MCL, dead-reckoning information and landmark detection results are used for prediction and update phases, respectively. The performance of the proposed technique is evaluated by experiments with an underwater robot platform and the results are discussed.     

An application of psychophysical ratings to external force estimation

An estimation of external force applied during hand-intensive work at actual work site has practical restrictions since direct measurement requires much equipment and time. This paper proposes a method that can estimate external forces applied at actual working environment on the basis of results of lab experiment. The psychophysical rating, specifically CR-10 scale developed by G. Borg, is adopted as the major tool to estimate external forces. This study also shows the general shape of the external force distribution for the most oommon and potentially risky hand postures of hand-intensive jobs.     

A synchronization algorithm for distributed multimedia environments

Network synchronization plays a significant role in transmitting multimedia objects over computer networks. Even packets from a single channel must be synchronized due to the problems in a packet switching environment, such as network jitter, frequency, and time offsets. We present an algorithm that determines the set of packets generated periodically by various participants arriving at a node. The basic advantage of the proposed algorithm is that the receiver estimates the reference times (expected arrival times of the packets) and achieves synchronization, without knowledge of the packet delays. The accuracy is improved and the complexity is reduced by predicting the time/frequency offsets between the clocks at the source and the mixer. The error is calculated by the Chernoff bound, demonstrated by simulation, and shown to be acceptable in practical applications.     

Effective cell loss analysis of a nonblocking ATM switch with nonuniform traffic

This paper quantifies a trade-off existing between cell loss and cell delay in an ATM switch with arbitrary input and output buffer sizes. TheEffective Cell Loss is introduced as a cell loss performance measure which combines both the cell loss due to buffer overflow and the cell loss due to excessive delay. ThisEffective Cell Loss measure allows one to design optimal input and output buffer sizes for a given cell loss requirement. Our analysis is versatile enough to easily study the adverse effect due to nonuniform traffic patterns at a switch. Study shows that the nonuniform traffic may jeopardize ATM switches designed under the uniform traffic assumption. For some examples, we have provided both numerical and computer simulation results to show the validity and usefulness of our analysis.     

Measurement of minimum angle of resolution (MAR) in the stereoscopic display using the optotype of stereoscopic stimuli

In stereoscopic images, the crossing point of the viewing directions of the two eyes determines the perceived depth. Assuming that accommodation is affected by the positions of the crossing point, the effect of crossing point on minimum angle of resolution (MAR) was investigated. For 40 participants, MAR was measured by two‐alternative forced choice where Snellen optotype E of up and down directions were used as two kinds of stimuli. As the crossing point of the viewing direction of the left and right eyes moves farther from the sample display, the ability to identify the direction of letter E decreases at the optotype of the same line thickness. The change of MAR shows linear trends with respect to the optical power change that are the reciprocal of the distance from the participant to the crossing points located out of screen and on screen.     

Transformation of a thin-walled solid model into a surface model via solid deflation

A simplified geometric model with lower dimensionality, such as a mid-surface model, is often preferred over a detailed solid model for the analysis process, if the analysis results are not seriously impacted. In order to derive a mid-surface model from a thin-walled solid model, in this paper, we propose a novel approach called the solid deflation method. In this method, a solid model is assumed to be created by using air to inflate a shell that comprises the surface of the solid model. First, the model is simplified by the removal of any detailed features whose absence would not alter its overall shape. Next, the solid model itself can be converted into a degenerate solid model with zero thickness. Finally, a surface model is generated by splitting large faces paired in the thinned solid model, selecting one face per pair for creating a sheet model, and sewing the selected faces. Using this method, a more practical and usable mid-surface model can be very efficiently generated from a solid model because it can circumvent not only the tedious trimming and extension processes of the medial axis transformation method but also the time-consuming patch joining process of the mid-surface abstraction approach.     

Real-time gaze control of an active head-eye system without calibration

This article describes real-time gaze control using position-based visual servoing. The main control objective of the system is to enable a gaze point to track the target so that the image feature of the target is located at each image center. The overall system consists of two parts: the vision process and the control system. The vision system extracts a predefined color feature from images. An adaptive look-up table method is proposed in order to get the 3-D position of the feature within the video frame rate under varying illumination. An uncalibrated camera raises the problem of the reconstructed 3-D positions not being correct. To solve the calibration problem in the position-based approach, we constructed an end-point closed-loop system using an active head-eye system. In the proposed control system, the reconstructed position error is used with a Jacobian matrix of the kinematic relation. The system stability is locally guaranteed, like image-based visual servoing, and the gaze position was shown to converge to the feature position. The proposed approach was successfully applied to a tracking task with a moving target in some simulations and some real experiments. The processing speed satisfies the property of real time. This work was presented in part at the Sixth International Symposium on Artificial Life and Robotics, Tokyo, January 15–17, 2001     

Interactive tree modeling and deformation with collision detection and avoidance

We present an interactive tree modeling and deformation system that supports an efficient collision detection and avoidance using a bounding volume hierarchy of sweep surfaces. Starting with conventional tree models (given as meshes), we convert them into sweep surfaces and deform their branches interactively while detecting and avoiding collisions with many other branches. Multiple tree models (sharing the same topology) can be generated with great ease using this sweep‐based approach, and they can serve as a basis for the generation of a multiparameter family of trees. We demonstrate the effectiveness of our approach in an automatic generation of similar trees, the colonization of trees to form a forest, and the tree growth, aging, and withering simulations. Copyright © 2015 John Wiley & Sons, Ltd.     

Dejittering in the transport of MPEG-2 and MPEG-4 video

When multimedia information is transported over a packet-switched network, the quality of presentation can be degraded due to network delay variation or jitter. This paper presents a dejittering scheme that can be used in the transport of MPEG-4 and MPEG-2 video to absorb any introduced network jitter, thus preserving the presentation quality of transported media streams. The dejittering scheme is based on the statistical approximation of delay variation in the arrival times of video packets carrying encoded clock reference values and a filtering and re-stamping mechanism. In addition, a brief overview of the MPEG-4 system is presented.     

Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task

This article proposes a method for the global optimization of redundancy over the whole task period in a kinematically redundant manipulator. The necessary conditions based on the calculus of variations for integral-type criteria result in a second-order differential equation. For a cyclic task, the boundary conditions for conservative joint motions are discussed. Then, we reformulate a two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method based on the iterative optimization for providing a globally optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of redundancy, we only search parameter values in the parameterized space using the configuration error between the initial and final time. We show through numerical examples that multiple nonhomotopic extremal solutions satisfying periodic boundary conditions exist according to initial joint velocities for the same initial configuration. Finally, we discuss an algorithm for topological liftings of the paths and demonstrate the generality of the proposed method by considering the dynamics of a manipulator.