Trajectory-Based Morphological Operators: A Model for Efficient Image Processing

Mathematical morphology has been an area of intensive research over the last few years. Although many remarkable advances have been achieved throughout these years, there is still a great interest in accelerating morphological operations in order for them to be implemented in real-time systems. In this work, we present a new model for computing mathematical morphology operations, the so-called morphological trajectory model (MTM), in which a morphological filter will be divided into a sequence of basic operations. Then, a trajectory-based morphological operation (such as dilation, and erosion) is defined as the set of points resulting from the ordered application of the instant basic operations. The MTM approach allows working with different structuring elements, such as disks, and from the experiments, it can be extracted that our method is independent of the structuring element size and can be easily applied to industrial systems and high-resolution images.

Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.

Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks

Traditional visual servoing systems do not deal with the topic of moving objects tracking. When these systems are employed to track a moving object, depending on the object velocity, visual features can go out of the image, causing the fail of the tracking task. This occurs specially when the object and the robot are both stopped and then the object starts the movement. In this work, we have employed a retina camera based on Address Event Representation (AER) in order to use events as input in the visual servoing system. The events launched by the camera indicate a pixel movement. Event visual information is processed only at the moment it occurs, reducing the response time of visual servoing systems when they are used to track moving objects.

Efficiency of a conductive cement-based anodic system for the application of cathodic protection, cathodic prevention and electrochemical chloride extraction to control corrosion in reinforced concrete structures

This article describes the research carried out regarding the application of cathodic protection (CP) and cathodic prevention (CPrev), in some cases with a pre-treatment of electrochemical chloride extraction (ECE), on representative specimens of reinforced concrete structures, using an anodic system consisting of a graphite-cement paste applied as a coating on the surface. The aim of this research is to find out the competence of this anode for the aforementioned electrochemical treatments. The efficiency of this anode has been clearly demonstrated, as well as its capability to apply a combined process of ECE and after CP.

Central America & Caribbean Region, 1858 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A new map of tropical-America, north of the Equator : comprising the West-Indies, Central-America, Mexico, New Cranada [sic] and Venezuela by H. Kiepert. It was published by Dietrich Reimer in 1858. Scale [ca. 1:3,600,000].The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Miller Cylindrical projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, territorial boundaries and colonial claims, shoreline features, and more. Relief shown by hachures and spot heights. Includes also text and inset map: Central part of the Mexican Republic on an enlarged scale, based upon the surveys published by A. v. Humboldt, v. Gerolt, Heller, Smith and the Sociedad Mejicana de Geografía y Estadística. Scale 1:1,000,000.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Charleston Harbor, South Carolina, 1863 (Raster Image)

This layer is a georeferenced raster image of the historic paper map: Charleston Harbor and its approaches showing the positions of the Rebel-batteries, [by] U.S. Coast Survey. It was published in 1863 by Lith. of J. Bien. Scale 1:30,000. Nautical chart covering Charleston Harbor and a portion of Charleston, South Carolina. The image inside the map neatline is georeferenced to the surface of the earth and fit to the South Carolina State Plane Coordinate System (in Meters) (Fipszone 3900). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, or other information associated with the principal map. This map shows features such as roads, railroads, houses, vegetation, drainage, military batteries and fortifications, coastal features (shoals, rocks, channels, floating batteries, etc.) and more. Overprinted to show 1/4-mile concentric circles centered on St. Michaels, Charleston; positions occupied by the Union Army and Navy; "Rebel batteries in possession of National forces [and] batteries still held by the Rebels [on] Sept. 7th 1863." Union positions are based "on the authority of Maj. T.B. Brooks." Relief shown by hachures; depths shown by soundings and shading. This layer is part of a selection of digitally scanned and georeferenced historic maps of the Civil War from the Harvard Map Collection. Many items from this selection are from a collection of maps deposited by the Military Order of the Loyal Legion of the United States Commandery of the State of Massachusetts (MOLLUS) in the Harvard Map Collection in 1938. These maps typically portray both natural and manmade features, in particular showing places of military importance. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Essex County, Massachusetts, 1856 (Image 1 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A topographical map of Essex County, Massachusetts : based upon the trigonometrical survey of the state the details, from actual surveys under the direction of H.F. Walling, superintendent of state map ; engd. by Geo. Worley & Wm. Bracher. It was published by Smith and Morley in 1856. Scale [ca. 1:50,000]. This layer is image 1 of 4 total images, representing the northeast portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Essex County, Massachusetts, 1856 (Image 3 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A topographical map of Essex County, Massachusetts : based upon the trigonometrical survey of the state the details, from actual surveys under the direction of H.F. Walling, superintendent of state map ; engd. by Geo. Worley & Wm. Bracher. It was published by Smith and Morley in 1856. Scale [ca. 1:50,000]. This layer is image 3 of 4 total images, representing the southwest portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Essex County, Massachusetts, 1856 (Image 2 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A topographical map of Essex County, Massachusetts : based upon the trigonometrical survey of the state the details, from actual surveys under the direction of H.F. Walling, superintendent of state map ; engd. by Geo. Worley & Wm. Bracher. It was published by Smith and Morley in 1856. Scale [ca. 1:50,000]. This layer is image 2 of 4 total images, representing the southeast portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Franklin County, Massachusetts, 1858 (Image 1 of 3) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Map of Franklin County, Massachusetts : based upon the trigonometrical survey of the state, the details from actual surveys under the direction of H.F. Walling, supt. of the state map. It was published by Smith & Ingraham in 1858. Scale [ca. 1:47,520]. This layer is image 1 of 3 total images, representing the northwest portion of the four sheet source map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Essex County, Massachusetts, 1856 (Image 4 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A topographical map of Essex County, Massachusetts : based upon the trigonometrical survey of the state the details, from actual surveys under the direction of H.F. Walling, superintendent of state map ; engd. by Geo. Worley & Wm. Bracher. It was published by Smith and Morley in 1856. Scale [ca. 1:50,000]. This layer is image 4 of 4 total images, representing the northwest portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Norfolk County, Massachusetts, 1858 (Image 1 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Map of the county of Norfolk, Massachusetts, based upon the details of the trigonometrical survey of the state; the details from actual surveys under the direction of Henry F. Walling. Supt. of the state map. It was published by Smith & Bumstead in 1858. Scale [ca. 1:40,000]. This layer is image 1 of 4 total images, representing the northwest portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Franklin County, Massachusetts, 1858 (Image 3 of 3) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Map of Franklin County, Massachusetts : based upon the trigonometrical survey of the state, the details from actual surveys under the direction of H.F. Walling, supt. of the state map. It was published by Smith & Ingraham in 1858. Scale [ca. 1:47,520]. This layer is image 3 of 3 total images, representing the northeast portion of the four sheet source map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Norfolk County, Massachusetts, 1858 (Image 2 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Map of the county of Norfolk, Massachusetts, based upon the details of the trigonometrical survey of the state; the details from actual surveys under the direction of Henry F. Walling. Supt. of the state map. It was published by Smith & Bumstead in 1858. Scale [ca. 1:40,000]. This layer is image 2 of 4 total images, representing the southwest portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

Norfolk County, Massachusetts, 1858 (Image 4 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Map of the county of Norfolk, Massachusetts, based upon the details of the trigonometrical survey of the state; the details from actual surveys under the direction of Henry F. Walling. Supt. of the state map. It was published by Smith & Bumstead in 1858. Scale [ca. 1:40,000]. This layer is image 4 of 4 total images, representing the northeast portion of the four sheet source map.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, churches, cemeteries, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town and school district boundaries, and more. Relief shown by hachures. It includes many cadastral insets of individual county towns and villages. It also includes illustrations, business directories, and tables of statistics and distances.This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.