Optimization of floor cleaning coverage performance of a random path-planning mobile robot

Floor cleaning is a typical robot application. There are several mobile robots aviable in the market for domestic applications most of them with random path-planning algorithms. In this paper we study the cleaning coverage performances of a random path-planning mobile robot and propose an optimized control algorithm, some methods to estimate the are of the room, the evolution of the cleaning and the time needed for complete coverage.

Neck pounding during sinus rhythm: a new clinical manifestation of dual atrioventricular nodal pathways

Objective To determine the clinical and electrophysiological characteristics of patients with paroxysmal palpitations and neck pounding during sinus rhythm. Methods Clinical, electrocardiographic, and electrophysiological characteristics of six patients with paroxysmal palpitations and neck pounding during sinus rhythm were studied in basal conditions and when symptomatic. Response to treatment was observed. Results Baseline ECGs were normal (four patients) or had first degree atrioventricular block with intermittent PR shortening. During symptoms, narrow QRS rhythms were seen without visible P waves (three patients) or with P waves partially hidden in the QRS complex (three patients). Dual atrioventricular nodal pathways were found in all five patients who had electrophysiological studies. In these patients the slow pathway conduction time was long enough (mean (SD), 425 (121)¿ms) for ventricular activation after slow pathway conduction during sinus rhythm to coincide with the next atrial depolarisation, causing neck pounding during exercise (four patients) or at rest (two patients). Tachycardia was not induced in any patient. Medical treatment aggravated symptoms in three patients. A pacemaker was successfully used in two. Conclusions Neck pounding during sinus rhythm is a clinical manifestation of dual atrioventricular nodal pathways. Medical treatment may aggravate symptoms but a pacemaker may offer definitive relief.

Caracterització i conservació d’una població de tortuga de rierol (Mauremys Leprosa) a l’ein del riu Llobregat al terme d’Abrera

S'ha estudiat una població de tortuga de rierol (Mauremys leprosa) present al curs principal del riu Llobregat, al seu pas pel municipi d'Abrera (Baix Llobregat). El tram té una longitud de 4.140 metres de recorregut sinuós, inclòs a l'EIN Riu Llobregat, amb predomini d'albaredes i pollancredes. S'ha caracteritzat el tram de riu segons el tipus de secció que presenta al llarg de l'àrea d'estudi. L'activitat de les tortugues comprèn de mitjans de febrer a mitjans de novembre, sense que s'hagi detectat una disminució a l'estiu. L'ús de l'espai no és uniforme amb una marcada preferència per trams del riu amb una certa fondària i velocitat de l'aigua alentida. S’han capturat 68 tortugues de rierol mitjançant nanses de pesca adaptades i, un cop marcades, s'han alliberat al mateix lloc. Per a cada animal es van obtenir les dades biomètriques i es va determinar el sexe. Mitjançant el mètode de captura-recaptura s'ha estimat la mida de la població en 100 ± 11 individus. La ràtio de sexes de la població és de 2:1 a favor dels mascles. La distribució de classes d'edats permet comprovar que la població està ben estructurada. No s'ha comprovat la reproducció, tot i que el nombre de femelles reproductores és elevat. La falta de captures de nounats i d’individus d'un hivern d’edat, i el baix nombre de juvenils capturats fa pensar que la taxa de reclutament és baixa. La mobilitat dels animals aigües amunt està limitada per la presència de dos assuts a l'àrea d'estudi, la qual cosa compromet la connectivitat de la població dins i fora de l'àrea d'estudi. També s'ha detectat la presència de tortuga de Florida (Trachemys scripta spp.) sense que s'hagi observat cap interacció entre ambdues espècies. Es proposen un seguit de mesures per afavorir la conservació de la tortuga de rierol.

An approach to vision-based station keeping for an unmanned underwater vehicle

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented

Perspectives of auto-correcting lens distortions in mosaic-based underwater navigation

When unmanned underwater vehicles (UUVs) perform missions near the ocean floor, optical sensors can be used to improve local navigation. Video mosaics allow to efficiently process the images acquired by the vehicle, and also to obtain position estimates. We discuss in this paper the role of lens distortions in this context, proving that degenerate mosaics have their origin not only in the selected motion model or in registration errors, but also in the cumulative effect of radial distortion residuals. Additionally, we present results on the accuracy of different feature-based approaches for self-correction of lens distortions that may guide the choice of appropriate techniques for correcting distortions

Large-Area Photo-Mosaics Using Global Alignment and Navigation Data

Seafloor imagery is a rich source of data for the study of biological and geological processes. Among several applications, still images of the ocean floor can be used to build image composites referred to as photo-mosaics. Photo-mosaics provide a wide-area visual representation of the benthos, and enable applications as diverse as geological surveys, mapping and detection of temporal changes in the morphology of biodiversity. We present an approach for creating globally aligned photo-mosaics using 3D position estimates provided by navigation sensors available in deep water surveys. Without image registration, such navigation data does not provide enough accuracy to produce useful composite images. Results from a challenging data set of the Lucky Strike vent field at the Mid Atlantic Ridge are reported

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system

Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot

Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

On the way to solve lighting problems in underwater imaging

A major obstacle to processing images of the ocean floor comes from the absorption and scattering effects of the light in the aquatic environment. Due to the absorption of the natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion, and, as the vehicle moves, induce shadows in the scene. For this reason, the first step towards application of standard computer vision techniques to underwater imaging requires dealing first with these lighting problems. This paper analyses and compares existing methodologies to deal with low-contrast, nonuniform illumination in underwater image sequences. The reviewed techniques include: (i) study of the illumination-reflectance model, (ii) local histogram equalization, (iii) homomorphic filtering, and, (iv) subtraction of the illumination field. Several experiments on real data have been conducted to compare the different approaches

Detection of matchings in a sequence of underwater images through texture analysis

This paper presents an approach to ameliorate the reliability of the correspondence points relating two consecutive images of a sequence. The images are especially difficult to handle, since they have been acquired by a camera looking at the sea floor while carried by an underwater robot. Underwater images are usually difficult to process due to light absorption, changing image radiance and lack of well-defined features. A new approach based on gray-level region matching and selective texture analysis significantly improves the matching reliability