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

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory

Augmented state Kalman filtering for AUV navigation

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position

Adaptive intelligent agent approach to guide the web navigation on the PLAN-G distance learning platform

Hypermedia systems based on the Web for open distance education are becoming increasingly popular as tools for user-driven access learning information. Adaptive hypermedia is a new direction in research within the area of user-adaptive systems, to increase its functionality by making it personalized [Eklu 961. This paper sketches a general agents architecture to include navigational adaptability and user-friendly processes which would guide and accompany the student during hislher learning on the PLAN-G hypermedia system (New Generation Telematics Platform to Support Open and Distance Learning), with the aid of computer networks and specifically WWW technology [Marz 98-1] [Marz 98-2]. The PLAN-G actual prototype is successfully used with some informatics courses (the current version has no agents yet). The propased multi-agent system, contains two different types of adaptive autonomous software agents: Personal Digital Agents {Interface), to interacl directly with the student when necessary; and Information Agents (Intermediaries), to filtrate and discover information to learn and to adapt navigation space to a specific student

A review of sensor fusion techniques for underwater vehicle navigation

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors

Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

PRIM an Open Mobile Robot Platform. Motivation, Present and Future Trends

This paper is focused on the robot mobile platform PRIM (platform robot information multimedia). This robot has been made in order to cover two main needs of our group, on one hand the need for a full open mobile robotic platform that is very useful in fulfilling the teaching and research activity of our school community, and on the other hand with the idea of introducing an ethical product which would be useful as mobile multimedia information point as a service tool. This paper introduces exactly how the system is made up and explains just what the philosophy is behind this work. The navigation strategies and sensor fusion, where machine vision system is the most important one, are oriented towards goal achievement and are the key to the behaviour of the robot

Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Plan de empresa "Dorcé"

Dorcé es una idea de negocio que responde de manera directa a la necesidad de vestir de las mujeres a través de su innovador sistema operativo “Diseño y confección a tu manera” el cual tiene como objetivo revolucionar la tradicional forma de adquirir prendas de vestir femeninas en la ciudad de Villavicencio. Desde su creación y ejecución, se ha observado una gran aceptación de dicho sistema operativo por parte de los clientes antiguos generando muy buenos resultados económicos partiendo de sus actividades principales, el diseño, la confección y venta de prendas de vestir femeninas. Es por esto que el desarrollo de este trabajo de grado va dirigido a organizar de una manera más administrativa los diferentes procesos que se llevan a cabo dentro de la organización a fin de conseguir incrementar la producción y llegar así a un grupo más amplio de clientes con base en sus necesidades y a las actuales tendencias de la moda. Esta labor tiene como fin, responder y satisfacer a la mujer villavicense en términos de moda, servicio y confección, agregándole un valor adicional en cuanto a menores tiempos de entrega, altos estándares de calidad y exclusividad. Todo lo anterior, en un solo lugar. El sistema operativo (factor diferenciador) de esta idea de negocio consiste en ofrecer a los clientes, diferentes modelos de las partes (cuello, manga, contorno, falda y panty) que componen las prendas que fabrica Dorcé (Blusa, vestido y traje de baño). Con el fin de que el cliente pueda armar la prenda a su gusto teniendo el plus de ir “a la medida”. Dicha prenda de carácter exclusivo, es confeccionada y entregada al cabo de un máximo de 3 días dependiendo de la complejidad que tenga para ser elaborada, garantizándole al cliente no solo la originalidad del diseño de su prenda sino también fabricarla en menor tiempo que la competencia. Es un producto y un servicio innovador que va dirigido a mujeres de quince a setenta años de edad de la ciudad de Villavicencio, mujeres de media y alta sociedad que se caracterizan por su gusto por la moda y la calidad. Una vez se satisfacen las necesidades de nuestros clientes se da lugar a nuevas ventas dentro del grupo social de cada una de ellas, una vez nos refieran de manera positiva con sus amigas y conocidas. Este tipo de publicidad (voz a voz) es la que ha llevado a Dorcé a crecer a través de los años sin perder la exclusividad de su mercado; sin embargo, en la actualidad, la idea de negocio carece de estructura empresarial adecuada, de estrategias que garanticen su crecimiento y sostenibilidad, también carece de recursos financieros inmediatos que faciliten la ampliación y adecuación de la planta de producción y del almacén. Es por ello que las actuales empresarias de esta idea de negocio tienen como objetivo, mediante la elaboración de este plan de empresa, desarrollar, organizar y mejorar las estrategias, acciones, objetivos, alianzas, cambios, inversiones, que se tienen y necesitan para el mejoramiento interno y externo de la compañía. Para el desarrollo de dicho plan, Dorcé cuenta con Doris Blanco, una diseñadora de modas de 25 años de experiencia en el sector textil y confección en la ciudad de Villavicencio, quien está a cargo del área de producción de la empresa, dos estudiantes de Administración de Negocios Internacionales, Fernanda Montes y Juliana Villamizar, quienes están a cargo de la parte administrativa, comercial y estratégica de la empresa. De igual forma cuenta con el conocimiento del mercado textil y de confección, así mismo amplias relaciones que se han venido fortaleciendo a través del tiempo con los diferentes proveedores de materia prima en la ciudad, maquinaria y materia prima inicial, cerca de sesenta mujeres que se han vinculado a la empresa como clientes fieles a la idea de negocio promocionándolo de manera positiva día a día, así como también el interés, empuje y compromiso por parte de las involucradas en desarrollar, ejecutar y sostener esta idea de negocio como proyecto de vida.

Using the Navigation Pane in MS Word 2010

The Navigation Pane makes it very easy to navigate around the Headings a long document, to reshuffle sections of content and to select and print parts of a file. For best viewing Download the video.

Alps Workshop 3 p17 Leadership through goal setting

Road with signposts animation

Disciplinary Differences: directed reading 1

Two articles outlining some early work on interdisciplinarity. Interesting as much for the style of the papers and the contents. You can download copies of the papers from this share. You can also access the full text via TDNET through the university library web site. Instructions provided.