Behavior-Based Safety: Developing a Regional Guidance

A behavior-based safety program improves overall safety culture and safety performance of an organization. A solid behavior-based safety program is achieved by successfully implementing key components. Key components include management commitment to the process, an effective training program, a cohesive observation process and a successful data collecting and reporting system. This Applied Capstone project defines a regional approach for each of the key components of a behavior-based safety program. Recommendations resulting from the project provide the company studied guidance on developing a consistent behavior-based safety program.

Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home

This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.

Notebook on geometry, geography, astronomy, and navigation, ca. 1714-1718

This heavily illustrated notebook contains entries on the following topics: geometrical definitions and axioms, geographical and astronomical definitions, compasses, plain sailing, parallel sailing, and Mercator's sailing. It also contains pages designated for notes on "Currents, Lee Way, & Variation," but these pages have been left blank. The back cover contains calculations which appear to relate to charting a course from Jamaica to "Lizzard."

Notebook on geography, navigation, mensuration, and other subjects, ca. 1723-1743

This heavily illustrated notebook contains entries on the following topics, among others: geography; mensuration; navigation and the history of navigation; "the use of Gunter's Scale in plain sailing;" compasses; quadrants and their use; "the refraction of the stars observed by the famous Tycho Brahe;" the latitude and longitude of coasts in America, Europe, and Africa; oceans and islands; mountains and "burning mountains" (volcanoes); rivers and lakes; forests and deserts; maps and sea charts; and the uses of geometry and other measurements by carpenters, joiners, painters, glaziers, masons, and bricklayers. Many pages contain navigational problems and their detailed solutions, as well as chronologies of global exploration and lists of all known rivers, mountains, and other geographic features across the world, many with vivid descriptions. The last pages of the notebook contain entries made in December of 1743 regarding celestial measurements Prince took in Stratford, Connecticut, where he was staying with his brother.

Opinions filed by the commissioners acting under the VII. article of the Treaty of Amity Commerce and Navigation between Great Britain and the United States of America : manuscript, 1797-1799

Opinions concerning the 7th article of the treaty.

Manual of navigation : manuscript, [1697?]

Consists of lessons on various computations (ff. 1-4), geometry (5-10), and navigation (11-74), mostly in the form of problems and solutions.