An active stereo vision-based learning approach for robotic tracking, fixating and grasping control

In this paper, an active stereo vision-based learning approach is proposed for a robot to track, fixate and grasp an object in unknown environments. First, the functional mapping relationships between the joint angles of the active stereo vision system and the spatial representations of the object are derived and expressed in a three-dimensional workspace frame. Next, the self-adaptive resonance theory-based neural networks and the feedforward neural networks are used to learn the mapping relationships in a self-organized way. Then, the approach is verified by simulation using the models of an active stereo vision system which is installed in the end-effector of a robot. Finally, the simulation results confirm the effectiveness of the present approach.

Mcommerce - a vision in time

Global mCommerce revenues are expected to grow from $400 million in 2000, to 22.2 billion by 2005 (Raczkowski, 2002) mCommerce is a key driver in developing the global information society, with applications emerging in numerous areas including banking, financial services, security services and shopping (Khalifa and Cheng, 2002). With optimistic projections regarding its growth, many researchers are actively determining the future of mCommerce. In this paper, we have tried to synthesise some predictions and evolving definitions, explored security as a critical impediment and developing solutions; investigated the mPayment scenario; and derived a futuristic research framework. Specifically, we have attempted to capture the moving mCommerce scenario in present time, with a special focus into mPayments.

Machine vision system for automatic inspection of surface defects in aluminium die casting

A machine vision system is presented for the automatic inspection of surface defects in aluminium die casting. The system uses a hybrid image processing algorithm based on mathematic morphology to detect defects with different sizes and shapes. The defect inspection algorithm consists of two parts. One is a parameter learning algorithm, in which a genetic algorithm is used to extract optimal structuring element parameters, and segmentation and noise removal thresholds. The second part is a defect detection algorithm, in which the parameters obtained by a genetic algorithm are used for morphological operations. The machine vision system has been applied in an industrial setting to detect two types of casting defects: parts mix-up and any defects on the surface of castings. The system performs with a 99% or higher accuracy for both part mix-up and defect detection and is currently used in industry as part of normal production.

Dietary omega 3 fatty acids decrease intraocular pressure with age by increasing Aqueous outflow

Purpose: To determine whether there is an association between dietary omega-3 (ω-3) fatty acid intake, age, and intraocular pressure (IOP) caused by altered aqueous outflow. Methods: Sprague–Dawley rats were fed either ω-3–sufficient (ω-3⁺) or ω-3–deficient (ω-3^–) diets from conception. The diets had 7% lipid content. The ω-3⁺ diet contained safflower, flaxseed, and tuna oils (5.5:1.0:0.5), and the ω-3^– diet contained safflower oil only. Intraocular pressure was measured at 5 to 40 weeks of age under light anesthesia (ω-3⁺, n = 39; ω-3^–, n = 48). Aqueous outflow was determined at 45 weeks in a subgroup of animals (ω-3⁺, n = 15;ω-3^–, n = 22) using pulsed infusion. Ciliary body tissues (n = 6 per group) were assayed for fatty acid content by thin-layer and gas-liquid chromatography in both diet groups. Results: Animals raised on ω-3⁺ diets had a 13% decrease in IOP at 40 weeks of age (13.48 ± 0.32 mm Hg vs. 15.46 ± 0.29 mm Hg; P < 0.01). When considered as a change in IOP relative to 5 weeks of age, the ω-3⁺ group showed a 23% decrease (P < 0.001). This lower IOP in the ω-3⁺ diet group was associated with a significant increase (+56%; P < 0.001) in outflow facility and a decrease in ocular rigidity (–59%; P < 0.001). The ω-3⁺ group showed a 3.3 times increase in ciliary body docosahexaenoic acid (P < 0.001). Conclusions: Increasing dietary ω-3 reduces IOP with age because of increased outflow facility, likely resulting from an increase in docosanoids. This indicates that dietary manipulation may provide a modifiable factor for IOP regulation. However, further studies are needed to consider whether this can modify the risk for glaucoma and can play a role in treatment of the disease.

Stereo-vision-based moving object tracking via robust linear filtering

Vision-based tracking sensors typically provide nonlinear measurements
of the targets Cartesian position and velocity state components. In this paper we derive linear measurements using an analytical measurement conversion technique which can be used with two (or more) vision sensors. We derive
linear measurements in the target’s Cartesian position and velocity components and we derive a robust version of a linear Kalman filter. We show that our linear robust filter significantly outperforms the extended Kalman Filter. Moreover, we prove that the state estimation error is bounded.

Vision based target tracking using robust linear filtering

The use of perspective projection in tracking a target from a video stream involves nonlinear observations. The target dynamics, however, are modeled in Cartesian coordinates and result in a linear system. In this paper we provide a robust version of a linear Kalman filter and perform a measurement conversion technique on the nonlinear optical measurements. We show that our linear robust filter significantly outperforms the Extended Kalman Filter. Moreover, we prove that the state estimation error is bounded in a probabilistic sense.

Depth estimation using multi-wavelet analysis based stereo vision approach

The problem of dimensional defects in aluminum die- casting is widespread throughout the foundry industry and their detection is of paramount importance in maintaining product quality. Due to the unpredictable factory environment and metallic, with highly reflective, nature of aluminum die-castings, it is extremely hard to estimate true dimensionality of the die-casting, autonomously. In this work, we propose a novel robust 3D reconstruction algorithm capable of reconstructing dimensionally accurate 3D depth models of the aluminum die-castings. The developed system is very simple and cost effective as it consists of only a stereo cameras pair and a simple fluorescent light. The developed system is capable of estimating surface depths within the tolerance of 1.5 mm. Moreover, the system is invariant to illuminative variations and orientation of the objects in the input image space, which makes the developed system highly robust. Due to its hardware simplicity and robustness, it can be implemented in different factory environments without a significant change in the setup.

Vision for transnational curriculum inquiry

This essay presents the foundation Editor's vision for Transnational Curriculum Inquiry (TCI), the journal of the International Association for the Advancement of Curriculum Studies (IAACS). It explores some theoretical and practical possibilities for building new transnational and transcultural solidarities in postcolonial curriculum inquiry and argues that building such solidarities requires a rethinking of the ways in which we perform and represent curriculum inquiry, so that curriculum work within a global knowledge economy does not merely assimilate national (local) curriculum discourses-practices into an imperial (global) archive.