Reconeixement de gestos de la mà amb el sensor Kinect

El reconeixement dels gestos de la mà (HGR, Hand Gesture Recognition) és actualment un camp important de recerca degut a la varietat de situacions en les quals és necessari comunicar-se mitjançant signes, com pot ser la comunicació entre persones que utilitzen la llengua de signes i les que no. En aquest projecte es presenta un mètode de reconeixement de gestos de la mà a temps real utilitzant el sensor Kinect per Microsoft Xbox, implementat en un entorn Linux (Ubuntu) amb llenguatge de programació Python i utilitzant la llibreria de visió artifical OpenCV per a processar les dades sobre un ordinador portàtil convencional. Gràcies a la capacitat del sensor Kinect de capturar dades de profunditat d’una escena es poden determinar les posicions i trajectòries dels objectes en 3 dimensions, el que implica poder realitzar una anàlisi complerta a temps real d’una imatge o d’una seqüencia d’imatges. El procediment de reconeixement que es planteja es basa en la segmentació de la imatge per poder treballar únicament amb la mà, en la detecció dels contorns, per després obtenir l’envolupant convexa i els defectes convexos, que finalment han de servir per determinar el nombre de dits i concloure en la interpretació del gest; el resultat final és la transcripció del seu significat en una finestra que serveix d’interfície amb l’interlocutor. L’aplicació permet reconèixer els números del 0 al 5, ja que s’analitza únicament una mà, alguns gestos populars i algunes de les lletres de l’alfabet dactilològic de la llengua de signes catalana. El projecte és doncs, la porta d’entrada al camp del reconeixement de gestos i la base d’un futur sistema de reconeixement de la llengua de signes capaç de transcriure tant els signes dinàmics com l’alfabet dactilològic.

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Measuring air pressure with a polymeric gas sensor

In this communication we describe the application of a conductive polymer gas sensor as an air pressure sensor. The device consists of a thin doped poly(4'-hexyloxy-2,5-biphenylene ethylene) (PHBPE) film deposited on an interdigitated metallic electrode. The sensor is cheap, easy to fabricate, lasts for several months, and is suitable for measuring air pressures in the range between 100 and 700 mmHg.

Utilização do sensor linear de luz ILX554 em espectroscopia óptica

This technical note describes the construction of a low-cost optical detector. This device is composed by a high-sensitive linear light sensor (model ILX554) and a microcontroller. The performance of the detector was demonstrated by the detection of emission and Raman spectra of the several atomic systems and the results reproduce those found in the literature.

Development of an optical redox chemical sensor for nitrite determination

An optical chemical sensor for the determination of nitrite based on incorporating methyltrioctylammonium chloride as an anionic exchanger on the triacetylcellulose polymer has been reported. The response of the sensor is based on the redox reaction between nitrite in aqueous solution and iodide adsorbed on sensing membrane using anion exchange phenomena. The sensing membrane reversibly responses to nitrite ion over the range of 6.52×10-6 - 8.70×10-5 mol L-1 with a detection limit of 6.05×10-7 mol L-1 (0.03 µg mL-1) and response time of 6 min. The relative standard deviation for eight replicate measurements of 8.70×10-6 and 4.34×10-5 mol L-1 of nitrite was 4.4 and 2.5 %, respectively. The sensor was successfully applied for determination of nitrite in food, saliva and water samples.

Monitoring of praseodymium(III) ions in aqueous solutions, soil and sediment samples by a PVC membrane sensor based on a furan-triazole derivative

A furan-triazole derivative has been explored as an ionophore for preparation of a highly selective Pr(III) membrane sensor. The proposed sensor exhibits a Nernstian response for Pr(III) activity over a wide concentration range with a detection limit of 5.2×10-8 M. Its response is independent of pH of the solution in the range 3.0-8.8 and offers the advantages of fast response time. To investigate the analytical applicability of the sensor, it was applied successfully as an indicator electrode in potentiometric titration of Pr(III) solution and also in the direct and indirect determination of trace Pr(III) ions in some samples.

Uso da RMN como um sensor online em processos industriais

Nuclear magnetic resonance (NMR) is one of the most versatile analytical techniques for chemical, biochemical and medical applications. Despite this great success, NMR is seldom used as a tool in industrial applications. The first application of NMR in flowing samples was published in 1951. However, only in the last ten years Flow NMR has gained momentum and new and potential applications have been proposed. In this review we present the historical evolution of flow or online NMR spectroscopy and imaging, and current developments for use in the automation of industrial processes.

Registrador portátil de odorantes basado en la modulación de temperatura de un sensor mos comercial

A simple, portable and low-cost system for odor detection was developed using a single MOS commercial sensor and a microcontroller. The temperature modulation technique was implemented applying a DC signal pulse to the sensor heater by a bipolar transistor. Two odorant profiles, ethanol and acetic acid vapors, were obtained and distinguished based on their amplitude versus time responses. Response for acetic acid was not reported by the sensor manufacturer. An ethanol vapor calibration curve was also obtained. Experimental data showed a potential behavior according to the theoretical equation of the MOS sensors. Values of logK=0.457 and α=-0.213 for a 95% confidence level were obtained.

O USO DE UM SENSOR DE LUZ LINEAR COMO RECURSO DIDÁTICO PARA DEMONSTRAR PRINCÍPIOS DE DIFRAÇÃO E ESPECTROSCOPIA

This article presents a discussion on light diffraction by slits and grids as well as the development of an experimental apparatus which provides quantitative observation of the phenomenon. We conducted a brief historical survey on the evolution of the wave theory of light and the role of diffraction in the context of optical spectroscopy. We also reviewed the use of Huygens’ principle to calculate the intensity pattern obtained when light is diffracted by slits and compared the predictions with experimental results obtained using the apparatus developed. Finally, the use of the apparatus in an optical spectroscopy experiment was demonstrated.

ELETRODOS DE FTO MODIFICADOS POR ELETRODEPOSIÇÃO DIRETA DE OURO: PRODUÇÃO, CARACTERIZAÇÃO E APLICAÇÃO COMO SENSOR ELETROQUÍMICO

Chemically modified electrodes have been studied to obtain new and better electrochemical sensors. Transparent conductive oxides, such as fluorine-doped tin-oxide (FTO), shows electrical conductivity comparable to metals and are potential candidates for new sensors. In this work, FTO was modified by gold electrodeposition from chlorine-auric acid solution using cyclic voltammetry (CV) technique. A set of different materials were produced, varying the scan number. Scanning electron microscopy and electrochemical impedance spectroscopy were performed for the characterization of electrodes surfaces. From this analysis was possible to observe the resistive, capacitive and difusional aspects from all kind of modified electrodes produced, establishing a relationship between this parameters and the scan number. The electrode with 100 scans of CV presented better characteristics for an electrochemical sensor; it has the lowest global impedance and rising of capacitive behavior (related to electrical double layer formation) at lower frequencies. This electrode was tested for paracetamol and caffeine detection. The results showed a high specificity, decreased oxidation potential (0.58 V and 0.97 Vvs. SCE, for paracetamol and caffeine, respectively) and low detection limits (0.82 and 0.052 µmol L-1).

Dióxido de chumbo eletrodepositado sobre grafite como sensor potenciométrico à ions chumbo e sulfato

No presente trabalho, foi desenvolvido um eletrodo de PbO2 eletrodepositado sobre grafite a partir do eletrólito metanosulfonato de chumbo-ácido metanosulfônico contendo o agente tensoativo brometo de cetiltrimetilamônio (BCTA). Foram avaliadas a resposta potenciométrica do eletrodo de PbO2 como sensor à íons Pb2+ e SO4(2-), em pH e força iônica constante. A aplicação deste eletrodo em titulações potenciométricas de precipitação em meio hidro-etanólico também foi investigada. Os resultados demonstraram que o eletrodo de PbO2 eletrodepositado pode ser utilizado como sensor potenciométrico alternativo à íons Pb(II) apresentando uma linearidade na faixa de concentração de 3,98x10-4 a 3,09x10-2 mol L-1 em meio de íons nitrato com limite de detecção de (4,98 ± 0,11)x10-4 mol L-1. Para íons sulfato o eletrodo de PbO2 não responde diretamente porém, estes íons podem ser dosados indiretamente por titulação potenciométrica com solução padrão de Pb(II), em meio ácido, em uma mistura 1:1 (v/v) de etanol-água, com boa definição dos volumes de equivalência. A repetitividade dos potenciais e dos volumes de equivalência obtidos em amostras de concentração milimolar em sulfato, indicam a viabilidade deste eletrodo na dosagem de íons sulfato.

Determinação de parâmetros físico-químicos com um sensor potenciométrico sensível ao íon p-aminobenzoato

Este trabalho descreve a construção e a determinação de parâmetros físico-químicos com um eletrodo de segunda ordem do tipo, Pt|Hg|Hg2(PAB)2|Grafite, sensível ao íon p-aminobenzoato (PAB). O eletrodo é construído facilmente, apresenta um rápido tempo de resposta, é de baixo custo e tem um tempo de vida útil superior a 12 meses. Utilizando o referido eletrodo foi possível estimar os coeficientes de atividade iônica individuais do PAB, a 25ºC, em força iônica ajustada entre 0,700-3,000 mol L-1 com NaClO4, em solução aquosa. O potencial molal padrão do eletrodo determinado a 25ºC é de (445,5 ± 0,5) mV. A constante termodinâmica do produto de solubilidade, T Kps (I=0) do Hg2(PAB)2 determinada com o eletrodo é de (T Kps = 2,50 x 10-12 mol³ L-3 , a 25ºC). Uma característica favorável consiste no fato de que o eletrodo pode ser utilizado para determinar a concentração de íons p-aminobenzoato livres em sistemas complexos de íons metálicos.

Determination of carbon monoxide using a coated quartz crystal sensor

Carbon monoxide was detected and determined by a piezoelectric quartz crystal sensor coated with nickel(II)-phthalocyanine 50 % (v/v) solution in glycerine. Studies on the effect of temperature, flow rate, and some possible interferents were carried out. Calibration curves, sensor stability (lifetime) and the precision of measurements were also verified. The resulting selectivity is probably due to the coordinative binding between the electronically unsatured metal complexes and the analyte. The analytical curve is linear in the concentration range 0.10 to 1.0 % (v/v).

Energy harvesting methods for wireless sensor nodes in heavy-duty vehicles

The number of autonomous wireless sensor and control nodes has been increasing rapidly during the last decade. Until recently, these wireless nodes have been powered with batteries, which have lead to a short life cycle and high maintenance need. Due to these battery-related problems, new energy sources have been studied to power wireless nodes. One solution is energy harvesting, i.e. extracting energy from the ambient environment. Energy harvesting can provide a long-lasting power source for sensor nodes, with no need for maintenance. In this thesis, various energy harvesting technologies are studied whilst focusing on the theory of each technology and the state-of-the-art solutions of published studies and commercial solutions. In addition to energy harvesting, energy storage and energy management solutions are also studied as a subsystem of a whole energy source solution. Wireless nodes are also used in heavy-duty vehicles. Therefore a reliable, long-lasting and maintenance-free power source is also needed in this kind of environment. A forestry harvester has been used as a case study to study the feasibility of energy harvesting in a forestry harvester’s sliding boom. The energy harvester should be able to produce few milliwatts to power the target system, an independent limit switch.