7 resultados para Computer Vision for Robotics and Automation
em Cochin University of Science
Resumo:
The application of computer vision based quality control has been slowly but steadily gaining importance mainly due to its speed in achieving results and also greatly due to its non- destnictive nature of testing. Besides, in food applications it also does not contribute to contamination. However, computer vision applications in quality control needs the application of an appropriate software for image analysis. Eventhough computer vision based quality control has several advantages, its application has limitations as to the type of work to be done, particularly so in the food industries. Selective applications, however, can be highly advantageous and very accurate.Computer vision based image analysis could be used in morphometric measurements of fish with the same accuracy as the existing conventional method. The method is non-destructive and non-contaminating thus providing anadvantage in seafood processing.The images could be stored in archives and retrieved at anytime to carry out morphometric studies for biologists.Computer vision and subsequent image analysis could be used in measurements of various food products to assess uniformity of size. One product namely cutlet and product ingredients namely coating materials such as bread crumbs and rava were selected for the study. Computer vision based image analysis was used in the measurements of length, width and area of cutlets. Also the width of coating materials like bread crumbs was measured.Computer imaging and subsequent image analysis can be very effectively used in quality evaluations of product ingredients in food processing. Measurement of width of coating materials could establish uniformity of particles or the lack of it. The application of image analysis in bacteriological work was also done
Resumo:
Modern computer systems are plagued with stability and security problems: applications lose data, web servers are hacked, and systems crash under heavy load. Many of these problems or anomalies arise from rare program behavior caused by attacks or errors. A substantial percentage of the web-based attacks are due to buffer overflows. Many methods have been devised to detect and prevent anomalous situations that arise from buffer overflows. The current state-of-art of anomaly detection systems is relatively primitive and mainly depend on static code checking to take care of buffer overflow attacks. For protection, Stack Guards and I-leap Guards are also used in wide varieties.This dissertation proposes an anomaly detection system, based on frequencies of system calls in the system call trace. System call traces represented as frequency sequences are profiled using sequence sets. A sequence set is identified by the starting sequence and frequencies of specific system calls. The deviations of the current input sequence from the corresponding normal profile in the frequency pattern of system calls is computed and expressed as an anomaly score. A simple Bayesian model is used for an accurate detection.Experimental results are reported which show that frequency of system calls represented using sequence sets, captures the normal behavior of programs under normal conditions of usage. This captured behavior allows the system to detect anomalies with a low rate of false positives. Data are presented which show that Bayesian Network on frequency variations responds effectively to induced buffer overflows. It can also help administrators to detect deviations in program flow introduced due to errors.
Resumo:
In this work we present the results of our attempt to build a compact photothermal spectrometer capable of both manual and automated mode of operation.The salient features of the system include the ability to analyse thin film, powder and polymer samples. The tool has been in use to investigate thermal, optical and transport properties. Binary and ternary semiconducting thin films were analysed for their thermal diffusivities. The system could perform thickness measurements nondestructively. Ion implanted semiconductors are widely studied for the effect of radiation induced defects. We could perform nondestructive imaging of defects using our spectrometer.The results reported in his thesis on the above in addition to studies on In2S3 and transparent conducting oxide ZnO have been achieved with this spectrometer. Various polymer samples have been easily analysed for their thermal diffusivities. The technique provided ease of analysis not achieved with conventional techniques like TGA and DSC. Industrial application of the tool has also been proved by analyzing defects of welded joints and adhesion of paints. Indigenization of the expensive lock-in-amplifier and automation has been the significant achievement in the course of this dissertation. We are on our way to prove the noise rejection capabilities of our PC LIA.
Resumo:
ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.
Resumo:
Internet today has become a vital part of day to day life, owing to the revolutionary changes it has brought about in various fields. Dependence on the Internet as an information highway and knowledge bank is exponentially increasing so that a going back is beyond imagination. Transfer of critical information is also being carried out through the Internet. This widespread use of the Internet coupled with the tremendous growth in e-commerce and m-commerce has created a vital need for infonnation security.Internet has also become an active field of crackers and intruders. The whole development in this area can become null and void if fool-proof security of the data is not ensured without a chance of being adulterated. It is, hence a challenge before the professional community to develop systems to ensure security of the data sent through the Internet.Stream ciphers, hash functions and message authentication codes play vital roles in providing security services like confidentiality, integrity and authentication of the data sent through the Internet. There are several ·such popular and dependable techniques, which have been in use widely, for quite a long time. This long term exposure makes them vulnerable to successful or near successful attempts for attacks. Hence it is the need of the hour to develop new algorithms with better security.Hence studies were conducted on various types of algorithms being used in this area. Focus was given to identify the properties imparting security at this stage. By making use of a perception derived from these studies, new algorithms were designed. Performances of these algorithms were then studied followed by necessary modifications to yield an improved system consisting of a new stream cipher algorithm MAJE4, a new hash code JERIM- 320 and a new message authentication code MACJER-320. Detailed analysis and comparison with the existing popular schemes were also carried out to establish the security levels.The Secure Socket Layer (SSL) I Transport Layer Security (TLS) protocol is one of the most widely used security protocols in Internet. The cryptographic algorithms RC4 and HMAC have been in use for achieving security services like confidentiality and authentication in the SSL I TLS. But recent attacks on RC4 and HMAC have raised questions about the reliability of these algorithms. Hence MAJE4 and MACJER-320 have been proposed as substitutes for them. Detailed studies on the performance of these new algorithms were carried out; it has been observed that they are dependable alternatives.
Resumo:
Content Based Image Retrieval is one of the prominent areas in Computer Vision and Image Processing. Recognition of handwritten characters has been a popular area of research for many years and still remains an open problem. The proposed system uses visual image queries for retrieving similar images from database of Malayalam handwritten characters. Local Binary Pattern (LBP) descriptors of the query images are extracted and those features are compared with the features of the images in database for retrieving desired characters. This system with local binary pattern gives excellent retrieval performance
Resumo:
As the popularity of digital videos increases, a large number illegal videos are being generated and getting published. Video copies are generated by performing various sorts of transformations on the original video data. For effectively identifying such illegal videos, the image features that are invariant to various transformations must be extracted for performing similarity matching. An image feature can be its local feature or global feature. Among them, local features are powerful and have been applied in a wide variety of computer vision aplications .This paper focuses on various recently proposed local detectors and descriptors that are invariant to a number of image transformations.