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1
Dalianis, Sotirios A. "Time-frequency methods for nonstationary systems." Thesis, University of Southampton, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.246198.
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Smeds, Kristofer S. "High-performance real-time motion control for precision systems." Thesis, University of British Columbia, 2011. http://hdl.handle.net/2429/34020.
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Digital motion controllers are used almost exclusively in automated motion control systems today. Their key performance parameters are controller execution speed, timing consistency, and data accuracy. Most commercially available controllers can achieve sampling rates up to 20kHz with several microseconds of timing variation between control cycles. A few state-of-the art control platforms can reach sampling rates of around 100kHz with several hundred nanoseconds of timing variation. There exist a growing number of emerging high-speed high-precision applications, such as diamond turning and scanning probe microscopy, that can benefit from digital controllers capable of faster sampling rates, more consistent timing, and higher data accuracy.
This thesis presents two areas of research intended to increase the capabilities of digital motion controllers to meet the needs of these high-speed high-precision applications.
First, it presents a new high-performance real-time multiprocessor control platform capable of 1MHz control sampling rates with less than 6ns RMS control cycle timing variation and 16-bit data acquisition accuracy. This platform also includes software libraries to integrate it with Simulink for rapid controller development and LabVIEW for easy graphical user interface development. This thesis covers the design of the control platform and experimentally demonstrates it as a motion controller for a fast-tool servo machine tool.
Second, this thesis investigates the effect of control cycle timing variations (sampling jitter and control jitter) on control performance, with an emphasis on precision positioning degradation. A new approximate discrete model is developed to capture the effects of jitter, enabling an intuitive understanding of it's effects on the control system. Based on this model, analyses are carried out to determine the relationship between jitter and positioning error for two scenarios: regulation error from jitter's interaction with measurement noise; and tracking error from jitter's interaction with a deterministic reference command. Further, several practical methods to mitigate the positioning degradation due to jitter are discussed, including a new jitter compensator that can be easily added to an existing controller. Through simulations and experiments performed on a fast-tool servo machine tool, the model and analyses are validated and the positioning degradation arising from jitter is clearly demonstrated.
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Mawla, Ayad Abdul. "Real Time Intruder Detection Systems (RAIDS)." Thesis, University of Bristol, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.261669.
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Lu, Yueyun. "Switching Stabilization of Continuous-Time Switched Systems." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1479201964449478.
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Björkman, Mårten. "Real-Time Motion and Stereo Cues for Active Visual Observers." Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3382.
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Yang, Xianyi. "Neural network approaches to real-time motion planning and control of robotic systems." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape7/PQDD_0020/NQ46951.pdf.
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Mawla, Aya Abdul. "Real time automatic intruder detection system (RAIDS)." Thesis, University of Bristol, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.319332.
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Belkind, Ori. "Physical systems : conceptual pathways between spacetime and matter /." Thesis, Connect to this title online; UW restricted, 2004. http://hdl.handle.net/1773/5703.
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Patton, Michael Winston Jr. "DEVELOPING A TIME AND MOTION STUDY FOR A LEAN HEALTHCARE ENVIRONMENT." UKnowledge, 2011. http://uknowledge.uky.edu/gradschool_theses/163.
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This thesis outlines the development of a standard methodology for performing a time and motion study in a lean healthcare environment. Time and motion studies have been used in healthcare environments in the past, however they have nearly all been exclusive to a particular healthcare enterprise. To develop the time and motion study methodology, a study was designed to examine how resident doctors spend their time. This study was performed in response to coming changes in the work hours for all residents. Once the methodology was developed, trial observations were conducted. The data from these observations was analyzed to determine the effectiveness of both the time and motion study methodology and its usefulness for process improvement activities.
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Deo, Vishwadeep. "Real-Time Adaptive Systems for Building Envelopes." Thesis, Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19769.
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The thesis attempts to investigate the issues pertaining to design, fabrication and
application of real-time adaptive systems for building envelopes, and to answer
questions raised by the idea of motion in architecture. The thesis uses the Solar
Decathlon Competition as a platform to base all the research and consequently to verify
their applications.
Photo-voltaic (PV) panels and shading devices are two different components of
Georgia Institute of Technology s the Solar Decathlon House, located above the roof,
that are based on the concept of Homeostasis or self-regulated optimization. For the
PV panels, the objective is to optimize energy production, by controlling their movement
to track the changing position of Sun, whereas, the objective for the shading devices is
to reduce heating or cooling loads by controlling the position of shading devices, thus
controlling direct and diffused heat gains through the roof.
To achieve this adaptive feature, it required three layers of operations. First was
the design of the mechanics of movement, which tried to achieve the required motion for
the PV panels and shading devices by using minimum components and parameters.
Second was the design of the individual parts that are consistent with the overall concept
of the House. And finally, the third layer is the design of controls that automates the
motion of the PV panels and Shading Devices, using a set of sensors that actuate the
attached motors. As a final product, there is an attempt to integrate the precision and
material efficiency of digital fabrication with the self-regulated optimization of the roof
components.
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Paulo, Gomes Neto Severino. "MARRT Pipeline: Pipeline for Markerless Augmented Reality Systems Based on Real-Time Structure from Motion." Universidade Federal de Pernambuco, 2009. https://repositorio.ufpe.br/handle/123456789/2012.
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Previous issue date: 2009Atualmente, com o aumento do poder computacional e os estudos em usabilidade, sistemas de tempo real e foto-realismo, os requisitos de qualquer sistema de computador são mais complexos e sofisticados. Sistemas de Realidade Aumentada não são exceção em sua tentativa de resolver problemas da vida real do usuário com um nível reduzido de risco, tempo gasto ou complexidade de aprendizado. Tais sistemas podem ser classificados como baseados em marcadores ou livres de marcadores. O papel essencial da realidade aumentada sem marcadores é evitar o uso desnecessário e indesejável de marcadores nas aplicações. Para atender à demanda por tecnologias de realidade aumentada robustas e não-intrusivas, esta dissertação propõe uma cadeia de execução para o desenvolvimento de aplicações de realidade aumentada sem marcadores, especialmente baseadas na técnica de recuperação da estrutura a partir do movimento em tempo real
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Alhloul, Saqer. "Performance analysis of variable multipath time delay effects generated by mobile motion on WCDMA systems." Thesis, Anglia Ruskin University, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.494290.
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This thesis focuses on the effect of variable time delay of multipath components on WCDMA mobiles. Most of the existing research treats the time delay as a constant factor when testing the mobile performance under multipath fading condition. In this thesis, three variable time delay functions (birth-death, sinusoidal and linear) which are generated due to the end user mobility are suggested as possible variable time delay condition to be studied and their effect on mobile receivers to be analysed.
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Spera, Manuel <1978>. "Motion control and real-time systems: an approach to trajectory rebuilding in non-deterministic networks." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2008. http://amsdottorato.unibo.it/637/.
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Motion control is a sub-field of automation, in which the position and/or velocity of machines
are controlled using some type of device. In motion control the position, velocity, force, pressure,
etc., profiles are designed in such a way that the different mechanical parts work as an harmonious
whole in which a perfect synchronization must be achieved.
The real-time exchange of information in the distributed system that is nowadays an industrial
plant plays an important role in order to achieve always better performance, better effectiveness
and better safety. The network for connecting field devices such as sensors, actuators, field controllers
such as PLCs, regulators, drive controller etc., and man-machine interfaces is commonly
called fieldbus.
Since the motion transmission is now task of the communication system, and not more of kinematic
chains as in the past, the communication protocol must assure that the desired profiles, and
their properties, are correctly transmitted to the axes then reproduced or else the synchronization
among the different parts is lost with all the resulting consequences.
In this thesis, the problem of trajectory reconstruction in the case of an event-triggered communication
system is faced.
The most important feature that a real-time communication system must have is the preservation
of the following temporal and spatial properties: absolute temporal consistency, relative
temporal consistency, spatial consistency.
Starting from the basic system composed by one master and one slave and passing through
systems made up by many slaves and one master or many masters and one slave, the problems
in the profile reconstruction and temporal properties preservation, and subsequently the synchronization
of different profiles in network adopting an event-triggered communication system, have
been shown. These networks are characterized by the fact that a common knowledge of the global
time is not available. Therefore they are non-deterministic networks. Each topology is analyzed
and the proposed solution based on phase-locked loops adopted for the basic master-slave case
has been improved to face with the other configurations.
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Partsinevelos, Panayotis. "Detection and Generalization of Spatio-temporal Trajectories for Motion Imagery." Fogler Library, University of Maine, 2002. http://www.library.umaine.edu/theses/pdf/PartsinevelosP2002.pdf.
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Gao, Jiuchun. "Optimal motion planning in redundant robotic systems for automated composite lay-up process." Thesis, Ecole centrale de Nantes, 2018. http://www.theses.fr/2018ECDN0015/document.
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La thèse traite de la planification des mouvements optimaux dans les systèmes robotiques redondants pour l'automatisation des processus d’enroulement filamentaire. L'objectif principal est d'améliorer la productivité des cellules de travail en développant une nouvelle méthodologie d'optimisation des mouvements coordonnés du robot manipulateur, du positionneur de pièce et de l'unité d'extension de l'espace de travail. Contrairement aux travaux précédents, la méthodologie proposée offre une grande efficacité de calcul et tient compte à la fois des contraintes technologiques et des contraintes du système robotique, qui décrivent les capacités des actionneurs et s'expriment par les vitesses et accélérations maximales admissibles dans les articulations actionnées. La technique développée est basée sur la conversion du problème continu original en un problème combinatoire, où toutes les configurations possibles des composants mécaniques sont représentées sous la forme d'un graphe multicouche dirigé et le mouvement temporel optimal est généré en utilisant le principe de programmation dynamique. Ce mouvement optimal correspond au plus court chemin sur le graphique satisfaisant les contraintes de lissage. Les avantages de la méthodologie développée sont confirmés par une application industrielle d’enroulement filamentaire pour la fabrication de pièces thermoplastiques au CETIMThe thesis deals with the optimal motion planning in redundant robotic systems for automation of the composite lay-up processes. The primary goalis to improve the lay-up workcell productivity by developing a novel methodology of optimizing coordinated motions of the robotic manipulator,workpiece positioner and workspace extension unit,which ensure the shortest processing time and smooth movements of all mechanical components. In contrast to the previous works, the proposed methodology provides high computational efficiencyand also takes into account both the technological constraints and the robotic system constraints, which describe capacities of the actuators and are expressed by the maximum allowable velocities and accelerations in the actuated joints. The developed technique is based on conversion of the original continuous problem into a combinatorial one, where all possible configurations of the mechanical components are represented as a directed multi layergraph and the desired time-optimal motion is generated using dynamic programming principle for searching the shortest path on the graph satisfying the smoothness constraints. It is also proposed an enhancement of this technique by dividing the optimization procedure in two stages combining global and local searches. At the first stage, the developed algorithm is applied in the global search space generated with large discretization step. Then,the same technique is applied in the local search space, which is created with smaller step in the neighborhood of the obtained trajectory. The advantages of the developed methodology are confirmed by industrial implementation on the factory floor that deals with manufacturing of the high pressure vessel
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Khan, Mohammed Soheeb. "Enhancement of asynchronous musculoskeletal diagnostic methods with the use of real-time virtual reality and motion capture systems for telemedicine." Thesis, Glasgow Caledonian University, 2014. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.658607.
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The demand and utilisation of telemedicine-based care is increasingly in demand due to the highly amplified number of populations striving towards a country life and remote location living style. Additionally, the financial climate, limited resources and the constantly growing population around the globe have prompted an interest from various governing bodies to reform and seek alternative methods for delivering high quality health care. The technological advancements and the increase of communication innovations have made telemedicine a promising solution for many issues faced by the current health care systems. Musculoskeletal (MSK) issues and injuries often present the largest number of cases amongst General Practitioners COPs) which tend to need monitoring after any surgical intervention or rehabilitation process. Yet the gait analysis of each patient is time-consuming and costly if the patients are located away from the medical and city centres. The technological innovations in motion-capture (Mo-Cap) systems have made it possible to acquire and collect complex motion data for biomechanics of musculoskeletal (MSK) structures. Yet the requirement of specialised costly equipment, professional setup, training and allocation of a dedicated large space rendered these techniques ideal only for a laboratory environment. Such laboratories are most commonly situated at a designated facility which requires the patients to travel to and from it routinely. Due to the limitation of such facilities, patients living in isolated and rural areas have limited or no access to this triage. Contemporary technological breakthroughs, related to cameras, projectors and videogames fuelled the development of cost-efficient, consumer-based peripherals offering Markerless motion capture techniques. Off-the-shelf devices such as Microsoft "Kinect" could be utilised efficiently for a fraction of the typical Mo-Cap suites price with insignificant difference in the tracking quality for the majority of the tracking activities. Mass developments of videogames, Virtual Reality (VR) and 3D programs have made it possible for 3D engines to be utilised across various industries as common platforms for real-time visualisation purposes. This has prompted medical information to be presented in a much-improved manner by the use of photorealistic 3D models and user-friendly interfaces. Early attempts to utilise 3D medical data-set in real-time environments have been limited or designed for a set purpose. Several systems have been designed for educational rationale and even contain visually appealing 3D data-sets but are velY restrictive in their functionality. Although they may illustrate details of human anatomy and provide users with enriched content and information, the restrictive system design renders them unsuccessful for adaptation and cannot be employed for gait analysis, rehabilitation and diagnosis purposes. Other systems have been designed for gait analysis and rehabilitation purposes and have been employed by the industry in various disciplines. Such systems are designed to work with high-end expensive tracking hardware, only support specific file formats and lack detailed visually appealing 3D content for the user. Furthermore they do not support off-the-shelf devices such as Microsoft "Kinect" therefore cannot be used in conjunction with such devices. However there have been some initial amateur attempts to perform gait analysis using off-the-shelf devices. But they are very limited with complex customised interfaces, have very limited functionality and an inaccurate visualisation and representation of the human anatomy. Due to these limitations a telemedicine based system has not been implemented in the past.
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Wang, Zhicun. "Time-Domain Simulations of Aerodynamic Forces on Three-Dimensional Configurations, Unstable Aeroelastic Responses, and Control by Neural Network Systems." Diss., Virginia Tech, 2004. http://hdl.handle.net/10919/11181.
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The nonlinear interactions between aerodynamic forces and wing structures are numerically investigated as integrated dynamic systems, including structural models, aerodynamics, and control systems, in the time domain. An elastic beam model coupled with rigid-body rotation is developed for the wing structure, and the natural frequencies and mode shapes are found by the finite-element method. A general unsteady vortex-lattice method is used to provide aerodynamic forces. This method is verified by comparing the numerical solutions with the experimental results for several cases; and thereafter applied to several applications such as the inboard-wing/twin-fuselage configuration, and formation flights. The original thought that the twin fuselage could achieve two-dimensional flow on the wing by eliminating free wing tips appears to be incorrect. The numerical results show that there can be a lift increase when two or more wings fly together, compared to when they fly alone. Flutter analysis is carried out for a High-Altitude-Long-Endurance aircraft wing cantilevered from the wall of the wind tunnel, a full-span wing mounted on a free-to-roll sting at its mid-span without and with a center mass (fuselage). Numerical solutions show that the rigidity added by the wall results in a higher flutter speed for the wall-mounted semi-model than that for the full-span model.
In addition, a predictive control technique based on neural networks is investigated to suppress flutter oscillations. The controller uses a neural network model to predict future plant responses to potential control signals. A search algorithm is used to select the best control input that optimizes future plant performance. The control force is assumed to be given by an actuator that can apply a distributed torque along the spanwise direction of the wing. The solutions with the wing-tip twist or the wing-tip deflection as the plant output show that the flutter oscillations are successfully suppressed with the neural network predictive control scheme.Ph. D.
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Li, Lei. "Fast Algorithms for Mining Co-evolving Time Series." Research Showcase @ CMU, 2011. http://repository.cmu.edu/dissertations/112.
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Time series data arise in many applications, from motion capture, environmental monitoring, temperatures in data centers, to physiological signals in health care. In the thesis, I will focus on the theme of learning and mining large collections of co-evolving sequences, with the goal of developing fast algorithms for finding patterns, summarization, and anomalies. In particular, this thesis will answer the following recurring challenges for time series:
1. Forecasting and imputation: How to do forecasting and to recover missing values in time series data?
2. Pattern discovery and summarization: How to identify the patterns in the time sequences that would facilitate further mining tasks such as compression, segmentation and anomaly detection?
3. Similarity and feature extraction: How to extract compact and meaningful features from multiple co-evolving sequences that will enable better clustering and similarity queries of time series?
4. Scale up: How to handle large data sets on modern computing hardware?
We develop models to mine time series with missing values, to extract compact representation from time sequences, to segment the sequences, and to do forecasting. For large scale data, we propose algorithms for learning time series models, in particular, including Linear Dynamical Systems (LDS) and Hidden Markov Models (HMM). We also develop a distributed algorithm for finding patterns in large web-click streams. Our thesis will present special models and algorithms that incorporate domain knowledge. For motion capture, we will describe the natural motion stitching and occlusion filling for human motion. In particular, we provide a metric for evaluating the naturalness of motion stitching, based which we choose the best stitching. Thanks to domain knowledge (body structure and bone lengths), our algorithm is capable of recovering occlusions in mocap sequences, better in accuracy and longer in missing period. We also develop an algorithm for forecasting thermal conditions in a warehouse-sized data center. The forecast will help us control and manage the data center in a energy-efficient way, which can save a significant percentage of electric power consumption in data centers.
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Diaz-Mercado, Yancy J. "Interactions in multi-robot systems." Diss., Georgia Institute of Technology, 2016. http://hdl.handle.net/1853/55020.
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The objective of this research is to develop a framework for multi-robot coordination and control with emphasis on human-swarm and inter-agent interactions. We focus on two problems: in the first we address how to enable a single human operator to externally influence large teams of robots. By directly imposing density functions on the environment, the user is able to abstract away the size of the swarm and manipulate it as a whole, e.g., to achieve specified geometric configurations, or to maneuver it around. In order to pursue this approach, contributions are made to the problem of coverage of time-varying density functions. In the second problem, we address the characterization of inter-agent interactions and enforcement of desired interaction patterns in a provably safe (i.e., collision free) manner, e.g., for achieving rich motion patterns in a shared space, or for mixing of sensor information. We use elements of the braid group, which allows us to symbolically characterize classes of interaction patterns. We further construct a new specification language that allows us to provide rich, temporally-layered specifications to the multi-robot mixing framework, and present algorithms that significantly reduce the search space of specification-satisfying symbols with exactness guarantees. We also synthesize provably safe controllers that generate and track trajectories to satisfy these symbolic inputs. These controllers allow us to find bounds on the amount of safe interactions that can be achieved in a given bounded domain.
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Zaitouni, Wael K. "Applied Real-Time Integrated Distributed Control Systems: An Industrial Overview and an Implemented Laboratory Case Study." Thesis, University of North Texas, 2016. https://digital.library.unt.edu/ark:/67531/metadc862854/.
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This thesis dissertation mainly compares and investigates laboratory study of different implementation methodologies of applied control systems and how they can be adopted in industrial, as well as commercial, automation applications. Namely the research paper aims to assess or evaluate eventual feedback control loops' performance and robustness over multiple conventional or state-of-the-art technologies in the field of applied industrial automation and instrumentation by implementing a laboratory case study setup: the ball on beam system. Hence, the paper tries to close the gap between industry and academia by: first, conducting a historical study and background information of main evolutional and technological eras in the field of industrial process control automation and instrumentation. Then, some related basic theoretical as well as practical concepts are reviewed in Chapter 2 of the report before displaying the detailed design. After that, the next Chapter, analyses the ball on beam control system problem as the case studied in the context of this research through reviewing previous literature, modeling and simulation. The following Chapter details the proposed design and implementation of the ball on beam case study as if it is under the introduced distributed industrial automation architecture. Finally, Chapter 5 concludes this work by listing several points leaned, remarks, and observations, and stating possible development and the future vision of this research.
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Zins, Matthieu. "Color Fusion and Super-Resolution for Time-of-Flight Cameras." Thesis, Linköpings universitet, Datorseende, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-141956.
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The recent emergence of time-of-flight cameras has opened up new possibilities in the world of computer vision. These compact sensors, capable of recording the depth of a scene in real-time, are very advantageous in many applications, such as scene or object reconstruction. This thesis first addresses the problem of fusing depth data with color images. A complete process to combine a time-of-flight camera with a color camera is described and its accuracy is evaluated. The results show that a satisfying precision is reached and that the step of calibration is very important. The second part of the work consists of applying super-resolution techniques to the time-of-flight camera in order to improve its low resolution. Different types of super-resolution algorithms exist but this thesis focuses on the combination of multiple shifted depth maps. The proposed framework is made of two steps: registration and reconstruction. Different methods for each step are tested and compared according to the improvements reached in term of level of details, sharpness and noise reduction. The results obtained show that Lucas-Kanade performs the best for the registration and that a non-uniform interpolation gives the best results in term of reconstruction. Finally, a few suggestions are made about future work and extensions for our solutions.
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Alberts, Stefan Francois. "Real-time Software Hand Pose Recognition using Single View Depth Images." Thesis, Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/86442.
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Thesis (MEng)--Stellenbosch University, 2014.ENGLISH ABSTRACT: The fairly recent introduction of low-cost depth sensors such as Microsoft’s Xbox Kinect has encouraged a large amount of research on the use of depth sensors for many common Computer Vision problems. Depth images are advantageous over normal colour images because of how easily objects in a scene can be segregated in real-time. Microsoft used the depth images from the Kinect to successfully separate multiple users and track various larger body joints, but has difficulty tracking smaller joints such as those of the fingers. This is a result of the low resolution and noisy nature of the depth images produced by the Kinect. The objective of this project is to use the depth images produced by the Kinect to remotely track the user’s hands and to recognise the static hand poses in real-time. Such a system would make it possible to control an electronic device from a distance without the use of a remote control. It can be used to control computer systems during computer aided presentations, translate sign language and to provide more hygienic control devices in clean rooms such as operating theatres and electronic laboratories. The proposed system uses the open-source OpenNI framework to retrieve the depth images from the Kinect and to track the user’s hands. Random Decision Forests are trained using computer generated depth images of various hand poses and used to classify the hand regions from a depth image. The region images are processed using a Mean-Shift based joint estimator to find the 3D joint coordinates. These coordinates are finally used to classify the static hand pose using a Support Vector Machine trained using the libSVM library. The system achieves a final accuracy of 95.61% when tested against synthetic data and 81.35% when tested against real world data.
AFRIKAANSE OPSOMMING: Die onlangse bekendstelling van lae-koste diepte sensors soos Microsoft se Xbox Kinect het groot belangstelling opgewek in navorsing oor die gebruik van die diepte sensors vir algemene Rekenaarvisie probleme. Diepte beelde maak dit baie eenvoudig om intyds verskillende voorwerpe in ’n toneel van mekaar te skei. Microsoft het diepte beelde van die Kinect gebruik om verskeie persone en hul ledemate suksesvol te volg. Dit kan egter nie kleiner ledemate soos die vingers volg nie as gevolg van die lae resolusie en voorkoms van geraas in die beelde. Die doel van hierdie projek is om die diepte beelde (verkry vanaf die Kinect) te gebruik om intyds ’n gebruiker se hande te volg oor ’n afstand en die statiese handgebare te herken. So ’n stelsel sal dit moontlik maak om elektroniese toestelle oor ’n afstand te kan beheer sonder die gebruik van ’n afstandsbeheerder. Dit kan gebruik word om rekenaarstelsels te beheer gedurende rekenaargesteunde aanbiedings, vir die vertaling van vingertaal en kan ook gebruik word as higiëniese, tasvrye beheer toestelle in skoonkamers soos operasieteaters en elektroniese laboratoriums. Die voorgestelde stelsel maak gebruik van die oopbron OpenNI raamwerk om die diepte beelde vanaf die Kinect te lees en die gebruiker se hande te volg. Lukrake Besluitnemingswoude ("Random Decision Forests") is opgelei met behulp van rekenaar gegenereerde diepte beelde van verskeie handgebare en word gebruik om die verskeie handdele vanaf ’n diepte beeld te klassifiseer. Die 3D koördinate van die hand ledemate word dan verkry deur gebruik te maak van ’n Gemiddelde-Afset gebaseerde ledemaat herkenner. Hierdie koördinate word dan gebruik om die statiese handgebaar te klassifiseer met behulp van ’n Steun-Vektor Masjien ("Support Vector Machine"), opgelei met behulp van die libSVM biblioteek. Die stelsel behaal ’n finale akkuraatheid van 95.61% wanneer dit getoets word teen sintetiese data en 81.35% wanneer getoets word teen werklike data.
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Mears, Michael Laine. "Geometry estimation and adaptive actuation for centering preprocessing and precision measurement." Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-03312006-125319/.
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Thesis (Ph. D.)--Mechanical Engineering, Georgia Institute of Technology, 2006.Dr. Richard F. Salant, Committee Member ; Dr. Shreyes N. Melkote, Committee Member ; Dr. Francis M. Kolarits, Committee Member ; Dr. Jane C. Ammons, Committee Member ; Dr. Thomas R. Kurfess, Committee Chair.
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Madison, Guy. "Functional modelling of the human timing mechanism." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis : Univ.-bibl. [distributör], 2001. http://publications.uu.se/theses/91-554-5012-1/.
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Bott, M. P. "A new, robust, and generic method for the quick creation of smooth paths and near time-optimal path tracking." Thesis, University of St Andrews, 2011. http://hdl.handle.net/10023/2095.
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Robotics has been the subject of academic study from as early as 1948. For much of this time, study has focused on very specific applications in very well controlled environments. For example, the first commercial robots (1961) were introduced in order to improve the efficiency of production lines. The tasks undertaken by these robots were simple, and all that was required of a control algorithm was speed, repetitiveness and reliability in these environments. Now however, robots are being used to move around autonomously in increasingly unpredictable environments, and the need for robotic control algorithms that can successfully react to such conditions is ever increasing. In addition to this there is an ever-increasing array of robots available, the control algorithms for which are often incompatible. This can result in extensive redesign and large sections of code being re-written for use on different architectures. The thesis presented here is that a new generic approach can be created that provides robust high quality smooth paths and time-optimal path tracking to substantially increase applicability and efficiency of autonomous motion plans. The control system developed to support this thesis is capable of producing high quality smooth paths, and following these paths to a high level of accuracy in a robust and near time-optimal manner. The system can control a variety of robots in environments that contain 2D obstacles of various shapes and sizes. The system is also resilient to sensor error, spatial drift, and wheel-slip. In achieving the above, this system provides previously unavailable functionality by generically creating and tracking high quality paths so that only minor and clear adjustments are required between different robots and also be being capable of operating in environments that contain high levels of perturbation. The system is comprised of five separate novel component algorithms in order to cater for five different motion challenges facing modern robots. Each algorithm provides guaranteed functionality that has previously been unavailable in respect to its challenges. The challenges are: high quality smooth movement to reach n-dimensional goals in regions without obstacles, the navigation of 2D obstacles with guaranteed completeness, high quality smooth movement for ground robots carrying out 2D obstacle navigation, near time-optimal path tracking, and finally, effective wheel-slip detection and compensation. In meeting these challenges the algorithms have tackled adherence to non-holonomic constraints, applicability to a wide range of robots and tasks, fast real-time creation of paths and controls, sensor error compensation, and compensation for perturbation. This thesis presents each of the above algorithms individually. It is shown that existing methods are unable to produce the results provided by this thesis, before detailing the operation of each algorithm. The methodology employed is varied in accordance with each of the five core challenges. However, a common element of methodology throughout the thesis is that of gradient descent within a new type of potential field, which is dynamic and capable of the simultaneous creation of high-quality paths and the controls required to execute them. By relating global to local considerations through subgoals, this methodology (combined with other elements) is shown to be fully capable of achieving the aims of the thesis. It is concluded that the produced system represents a novel and significant contribution as there is no other system (to the author’s knowledge) that provides all of the functionality given. For each component algorithm there are many control systems that provide one or more of its features, but none that are capable of all of the features. Applications for this work are wide ranging as it is comprised of five component algorithms each applicable in their own right. For example, high quality smooth paths may be created and followed in any dimensionality of space if time optimality and obstacle avoidance are not required. Broadly speaking, and in summary, applications are to ground-based robotics in the areas of smooth path planning, time optimal travel, and compensation for unpredictable perturbation.
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Suprikienė, Roberta. "Terapinio profilio slaugytojų darbo laiko sąnaudų ryšio su pacientų savarankiškumu vertinimas." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2014. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2014~D_20140711_084728-49736.
Full textAbstract:
Darbo tikslas – įvertinti terapinio profilio slaugytojų darbo laiko sąnaudų ryšį su pacientų savarankiškumu.
Uždaviniai: 1. Išanalizuoti terapinio profilio slaugytojų darbo laiko sąnaudas pagal priežiūros kategorijas ir slaugytojo veiklų grupes. 2. Nustatyti terapinio profilio pacientų savarankiškumo lygmenį. 3. Išanalizuoti terapinio profilio slaugytojų darbo laiko sąnaudas, atsižvelgiant į pacientų savarankiškumo lygmenį.
Tyrimo metodika. Tyrimas atliktas VšĮ Vilkaviškio ligoninės trijuose terapinio profilio skyriuose (vidaus ligų, neurologijos, slaugos ir palaikomojo gydymo). Tyrimo trukmė - 3,5 mėn. Naudotas tiesioginis laiko ir slaugytojo veiksmų stebėjimo metodas (angl. time-and-motion studies). Iš viso atlikta 72 stebėjimai, kurie sudarė 777,2 val. slaugytojų darbo laiko sąnaudų. Pacientų savarankiškumas vertintas anketa.
Rezultatai: Terapinio profilio slaugytojų didžiausios darbo laiko sąnaudos dienos (46,6 proc.) ir nakties (28,3 proc.) pamainoje skirtos tiesioginei pacientų priežiūrai. Mažiausia dalis slaugytojų darbo laiko praleista netiesioginei pacientų priežiūrai. Terapinio profilio skyriuose didžioji dalis pacientų (40,1 proc.) buvo savarankiški, 22,3 priklausomi ir 16 proc. - visiškai priklausomi. Slaugytojai per dvi darbo pamainas (dienos ir nakties), pusę savo darbo laiko skyrė visiškai priklausomiems pacientams slaugyti ir prižiūrėti, ketvirtadalį laiko - priklausomiems pacientams ir mažiausiai, t.y. 14 proc. - savarankiškiems pacientams.
Išvados: 1... [toliau žr. visą tekstą]Purpose – to evaluate the relationship between time spent caring a patient by nurses on a medical unit and the patients‘ levels of independence. Objectives: 1. Analyze time spent caring for a patient by nurses on a medical unit according to care categories and nurses activity groups. 2. Determine patients‘ independence levels on a medical unit. 3. Analyze time spent caring for patients according to independence levels by nurses on a medical unit. Methods. The study was completed at Vilkaviškis Hospital, in three medical units (internal medicine, neurology and nursing and hospice care) The length of the study was 3.5 months. Data was gathered through time and motion observation. Seventy-two observations yielded 777.2 hours of observed nursing time. Patient independence was evaluated using a questionnaire. Results: On medical units, the majority of nursing time during the day (46,6%) and night (28,3%) shifts is dedicated to direct patient care. The least amount of nursing time is spent in indirect patient care. On the medical units, a large number of patients (40,1%) were independent, 22,3% needed partial care and 16%. required total care. Nurses during two shifts (day and night) spent half their time providing total care to patients, a quarter of their time providing partial care and the least amount of time, i.e., 14%, providing care to independent patients. Conclusions: 1. Almost half of the nursing shift is spent in direct patient care; much time was spent administering... [to full text]
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Pakkan, Sinan. "Modeling And Simulation Of A Maneuvering Ship." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608933/index.pdf.
Full textAbstract:
This thesis documents the studies conducted in deriving a mathematical model representing the dynamics of a maneuvering ship to be implemented as part of an interactive real-time simulation system, as well as the details and results of the implementation process itself. Different effects on the dynamics of ship motions are discussed separately, meaning that the effects are considered to be applied to the system one at a time and they are included in the model simply by the principle of superposition. The model is intended to include the hydrodynamic interactions between the ship hull and the ocean via added mass (added inertia), damping and restoring force concepts. In addition to these effects, which are derived considering no incident waves are present on the ocean, the environmental disturbances, such as wind, wave and ocean current are also taken into account for proposing a mathematical model governing the dynamics of the ship. Since the ultimate product of this thesis work is a running computer code that can be integrated into an available simulation software, the algorithm development and code implementation processes are also covered. Improvements made on the implementation to achieve &ldquobetter&rdquo
real-time performance are evaluated comparatively in reference to original runs conducted before the application of improvement under consideration. A new method to the computation of the wave model that allows faster calculation in real-time is presented. A modular programming approach is followed in the overall algorithm development process in order to make the integration of new program components into the software, such as a new hull or propulsion model or a different integrator type possible, easily and quickly.
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Allen, Andrew. "A Random Walk Version of Robbins' Problem." Thesis, University of North Texas, 2018. https://digital.library.unt.edu/ark:/67531/metadc1404568/.
Full textAbstract:
Robbins' problem is an optimal stopping problem where one seeks to minimize the expected rank of their observations among all observations. We examine random walk analogs to Robbins' problem in both discrete and continuous time. In discrete time, we consider full information and relative ranks versions of this problem. For three step walks, we give the optimal stopping rule and the expected rank for both versions. We also give asymptotic upper bounds for the expected rank in discrete time. Finally, we give upper and lower bounds for the expected rank in continuous time, and we show that the expected rank in the continuous time problem is at least as large as the normalized asymptotic expected rank in the full information discrete time version.
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Kakushi, Luciana Emi. "Mensuração e análise do tempo de assistência de enfermagem direta e indireta em Unidade de Terapia Intensiva." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/22/22132/tde-12062013-151403/.
Full textAbstract:
A mensuração do tempo da assistência de enfermagem constitui uma medida objetiva para a avaliação do quantitativo e qualitativo dos profissionais de enfermagem, sendo que a maior dificuldade encontrada na operacionalização dos métodos de dimensionamento de pessoal se refere à determinação do tempo médio de assistência. Para esta determinação é necessário identificar o tempo que a enfermagem utiliza para prestar a assistência tanto direta como indireta aos pacientes. Este estudo teve como objetivo mensurar e analisar o tempo de assistência de enfermagem direta e indireta em uma Unidade de Terapia Intensiva (UTI) de uma instituição hospitalar privada. O referencial teórico foi pautado na Classificação das Intervenções de Enfermagem (NIC - Nursing Interventions Classifications) que define as intervenções de assistência direta e indireta e o tempo estimado para a realização das atividades de enfermagem. É um estudo do tipo descritivo / exploratório, desenvolvido junto a UTI de um hospital privado, de nível terciário de hierarquização, composta por 20 leitos. Para estimar o tempo de assistência direta de enfermagem foi utilizado o sistema de classificação Nursing Activities Score (NAS) e para estimar o tempo de assistência indireta foi utilizado o Prontuário Eletrônico do Paciente (PEP) no que diz respeito ao registro das ações de enfermagem e a outros processos que envolvem a utilização do sistema eletrônico. A coleta de dados foi realizada no período de março a junho de 2011. Os resultados mostraram que o tempo médio de assistência de enfermagem foi de 29,5 horas por paciente/dia, sendo 27,4 horas (93%) para a assistência direta (NAS) e 2,1 horas (7%) na assistência indireta (PEP). Importante ressaltar que a média do tempo gasto no PEP no período diurno foi de 46,0 minutos por paciente/dia e no período noturno a média foi de 79,9 minutos (1,3 horas) por paciente/dia. Os dados mostraram que o tempo da assistência de enfermagem direta e indireta foi maior nos finais de semana e feriados com 29,7 horas se comparados aos dias úteis com 29,3 horas, ou seja, um acréscimo de 24,0 minutos de assistência de enfermagem por paciente/dia nos finais de semana e feriados. Cabe destacar que o tempo utilizado no prontuário eletrônico foi de 2,1 horas para a documentação de enfermagem, ou seja, uma diminuição no tempo para a documentação de 24,0 minutos por paciente/dia em um sistema eletrônico frente ao tempo estimado pelo sistema de Classificação NIC (2,5 horas). Conclui-se que o objetivo deste estudo foi alcançado, determinando o tempo da assistência direta e indireta de enfermagem ao paciente na UTI em questão. Foi possível identificar que o tempo de assistência de enfermagem foi maior durante os finais de semana e feriados, com predomínio da utilização do prontuário eletrônico no período noturno. Esta informação é importante para o direcionamento dos processos de tomada de decisão no gerenciamento da unidade como o dimensionamento de pessoal, na avaliação quantitativa dos recursos humanos e na determinação da real carga de trabalho.The measurement of time of nursing care is an objective measure for quantitative and qualitative assessment of nursing professionals, and the greatest difficulty in operationalizing the methods of staff dimensioning refers to determining the average time of care. For this determination, it is necessary to identify the time that nursing uses to provide both direct and indirect care to patients. This study aimed to measure and analyze the direct and indirect time of nursing care in an Intensive Care Unit (ICU) of a private hospital. The theoretical framework was guided by the Nursing Interventions Classification (NIC) that defines interventions of direct and indirect care and the estimated time for the completion of nursing activities. This descriptive and exploratory study was developed at the ICU of a private and tertiary level hospital, consisting of 20 beds. In order to estimate the time of direct nursing care the Nursing Activities Score (NAS) classification system was used, and to estimate the time of indirect care the Electronic Patient Record (EPR) was used with respect to the registration of nursing actions and other processes involving the use of the electronic system. Data collection was conducted from March to June 2011. Results showed that the average time of nursing care was of 29.5 hours per patient/day, of which 27.4 hours (93%) for direct care (NAS) and 2.1 hours (7%) in indirect care (EPR). It is highlighted that the average time spent in EPR during the day was 46.0 minutes per patient/day and at night the average was 79.9 minutes (1.3 hours) per patient/day. Data showed that the time of direct and indirect nursing care was higher on weekends and holidays with 29.7 hours compared to 29.3 hours on working days, that is, an increase of 24.0 minutes of nursing care per patient/day on weekends and holidays. It is noteworthy that the time used in the electronic patient record was 2.1 hours for nursing documentation, that is, a decrease in time for documentation of 24.0 minutes per patient/day using electronic system compared to the time estimated by the NIC Classification (2.5 hours). It is concluded that the objective of this study was achieved with the determination of the time of direct and indirect nursing care at the studied ICU. It was possible to identify that the time of nursing care was higher during the weekends and holidays, with a predominance of the use of electronic patient records at night. This information is important to guide the processes of decision making in the management of the unit such as the staff dimensioning, quantitative assessment of human resources and in determining the actual workload.
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Vestin, Albin, and Gustav Strandberg. "Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-160020.
Full textAbstract:
Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. Validation of the tracking performance is often done in staged traffic scenarios, where additional sensors, mounted on the vehicles, are used to obtain their true positions and velocities. The difficulty of evaluating the tracking performance complicates its development. An alternative approach studied in this thesis, is to record sequences and use non-causal algorithms, such as smoothing, instead of filtering to estimate the true target states. With this method, validation data for online, causal, target tracking algorithms can be obtained for all traffic scenarios without the need of extra sensors. We investigate how non-causal algorithms affects the target tracking performance using multiple sensors and dynamic models of different complexity. This is done to evaluate real-time methods against estimates obtained from non-causal filtering. Two different measurement units, a monocular camera and a LIDAR sensor, and two dynamic models are evaluated and compared using both causal and non-causal methods. The system is tested in two single object scenarios where ground truth is available and in three multi object scenarios without ground truth. Results from the two single object scenarios shows that tracking using only a monocular camera performs poorly since it is unable to measure the distance to objects. Here, a complementary LIDAR sensor improves the tracking performance significantly. The dynamic models are shown to have a small impact on the tracking performance, while the non-causal application gives a distinct improvement when tracking objects at large distances. Since the sequence can be reversed, the non-causal estimates are propagated from more certain states when the target is closer to the ego vehicle. For multiple object tracking, we find that correct associations between measurements and tracks are crucial for improving the tracking performance with non-causal algorithms.
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Zhuang, Zheng-Mo, and 莊政謀. "Hardware motion detection approaches for real-time surveillance systems." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/86955657010819659882.
Full textAbstract:
碩士臺灣大學
電機工程學研究所
95
Among computer visions, motion detection which can be applied to many areas would be quite critical for research. Due to the large amount of computations of a motion detection system, it’s such often a circumstance that if the software form is utilized to motion detection operations, the images detected couldn’t meet the real-time requirements of a surveillance system , leading to asynchronous condition between detection and observation. Consequently, in this research, we take advantage of specific hardware to approach motion detection in order to accelerate and to meet the need of real-time surveillance systems. In this research, we’re going to discuss motion detection in fully software and in fully hardware respectively, and then analyze their efficacy. We also evaluate the frame rate of motion detection in hardware/software co-design in the thesis.
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Huang, Rongxin 1978. "Brownian motion at fast time scales and thermal noise imaging." 2008. http://hdl.handle.net/2152/18009.
Full textAbstract:
This dissertation presents experimental studies on Brownian motion at fast time scales, as well as our recent developments in Thermal Noise Imaging which uses thermal motions of microscopic particles for spatial imaging. As thermal motions become increasingly important in the studies of soft condensed matters, the study of Brownian motion is not only of fundamental scientific interest but also has practical applications. Optical tweezers with a fast position-sensitive detector provide high spatial and temporal resolution to study Brownian motion at fast time scales. A novel high bandwidth detector was developed with a temporal resolution of 30 ns and a spatial resolution of 1 °A. With this high bandwidth detector, Brownian motion of a single particle confined in an optical trap was observed at the time scale of the ballistic regime. The hydrodynamic memory effect was fully studied with polystyrene particles of different sizes. We found that the mean square displacements of different sized polystyrene particles collapse into one master curve which is determined by the characteristic time scale of the fluid inertia effect. The particle’s inertia effect was shown for particles of the same size but different densities. For the first time the velocity autocorrelation function for a single particle was shown. We found excellent agreement between our experiments and the hydrodynamic theories that take into account the fluid inertia effect. Brownian motion of a colloidal particle can be used to probe three-dimensional nano structures. This so-called thermal noise imaging (TNI) has been very successful in imaging polymer networks with a resolution of 10 nm. However, TNI is not efficient at micrometer scale scanning since a great portion of image acquisition time is wasted on large vacant volume within polymer networks. Therefore, we invented a method to improve the efficiency of large scale scanning by combining traditional point-to-point scanning to explore large vacant space with thermal noise imaging at the proximity of the object. This method increased the efficiency of thermal noise imaging by more than 40 times. This development should promote wider applications of thermal noise imaging in the studies of soft materials and biological systems.text
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Lin, Hsuan-Cheng, and 林軒正. "The Synchronized Motion Controller Design in Remote Control Systems With Different Time Delays." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/02709015467750451533.
Full textAbstract:
碩士國立交通大學
電控工程研究所
100
The data dropout and time delay in the network control system (NCS) have a great effect in control performance. In this Thesis, we combine both the perfect delay compensation (PDC) and the least square estimation (LSE) to recover the dropout data caused by the network-induced time delay. In this study, experiments were constructed through NCS with different time delays. As the command is circular, the contour becomes elliptical due to the different delays in two NCS, one is CAN and another is Ethernet. The round trip time (RTT) between two network nodes was measured and furthermore, the faster NCS is designed to wait for the slower NCS to result in the synchronized motion. The roundness is then significantly improved from 0.157 to 0.013. As the time delay is varied in the commercial Ethernet, the adaptive compensation based on the real measured RTT was adopted to match the real time delay. The cross-coupled control (CCC) was further applied and experiments between Hsinchu and Taichung show that roundness and IAE for the 2-axis motion control system can be improved by 90% and 25%, respectively, in the roundness and IAE.
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Hung, Jeanson, and 洪錦森. "Cellular search algorithm for block-matching motion estimation in real-time video coding systems." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/45602394997637001712.
Full textAbstract:
碩士國立海洋大學
電機工程學系
89
A novel algorithm, namely the Cellular Search (CS), for block-matching motion estimation in real-time video coding systems is introduced in this thesis. The CS algorithm employs the large cellular search pattern (LCSP) to achieve larger coverage in every possible direction with a reasonably small number of search blocks. LCSP aims to provide a rough estimation of the best matching block Bm with little computation. In addition, accurate location of Bm is equally important. Subsequently, we use the small rectangular search pattern (SRSP) to scan all 8 neighbors of the center (previously identified by LCSP) to determine which one is the best solution for Bm. The LCSP assumes that the best matching block can be located at any direction of the LCSP center, and we show that the number of blocks via LCSP search is less than other algorithms. Following the LCSP search, the SRSP is used to search those nearby the center block. We show that the CS algorithm is computationally efficient, it requires less computation time than other algorithms such as the three-step search (TSS) [2], the new three-step search (NTSS) [3], and the four-step search (4SS) [4]. Compared with the diamond search (DS) [5], CS can achieve a similar MSE value with only half number of search blocks required by DS. For real-time video coding systems, CS outperforms other block-matching algorithms both in encoding accuracy and speed.
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Ratshidaho, Thikhathali Terence. "Fusion of time of flight (ToF) camera's ego-motion and inertial navigation." Thesis, 2013. http://hdl.handle.net/10413/11181.
Full textAbstract:
For mobile robots to navigate autonomously, one of the most important and
challenging task is localisation. Localisation refers to the process whereby a
robot locates itself within a map of a known environment or with respect to
a known starting point within an unknown environment. Localisation of a
robot in unknown environment is done by tracking the trajectory of a robot
whilst knowing the initial pose. Trajectory estimation becomes challenging
if the robot is operating in an unknown environment that has scarcity
of landmarks, is GPS denied, is slippery and dark such as in underground
mines.
This dissertation addresses the problem of estimating a robot's trajectory
in underground mining environments. In the past, this problem has been
addressed by using a 3D laser scanner. 3D laser scanners are expensive and
consume lot of power even though they have high measurements accuracy
and wide eld of view. For this research work, trajectory estimation is accomplished
by the fusion of an ego-motion provided by Time of Flight(ToF)
camera and measurement data provided by a low cost Inertial Measurement
Unit(IMU).
The fusion is performed using Kalman lter algorithm on a mobile robot
moving in a 2D planar surface. The results shows a signi cant improvement
on the trajectory estimation. Trajectory estimation using ToF camera only
is erroneous especially when the robot is rotating. The fused trajectory estimation
algorithm is able to estimate accurate ego-motion even when the
robot is rotating.[Durban, South Africa] : University of KwaZulu-Natal, 2013.
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Wu, Hsin-Cheng, and 吳信成. "Design and Implementation of the Real-Time Motion Control Systems on An X-Y able." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/11971834935110493494.
Full textAbstract:
碩士國立成功大學
工程科學系碩博士班
94
The X-Y table is a servomechanism commonly used in industrial applications. The system consists of a mechanism, motor actuators, sensors and a controller. The mechanism is composed of two ball screws, U-type linear rails, linear bearings and flexible couplings. The permanent magnetic direct current motors are used as actuators. The rotary encoder is used to measure the angular position of the DC motor. The digital controller is implemented on the personal computer and a motion control card (EPCIO-6000). The objective of this thesis is to realize precise positioning control using a real-time motion control system on an X-Y table. In the system, the tracking error is eliminated by the PID controller, and the feed-forward compensator is used to reduce the time delay effect of the system. Because the difference of dynamical characteristics of two axes will enlarge the contouring error, the cross-coupled controller is added into the system to attenuate this phenomenon. Although the aforementioned linear motion controller has wide bandwidth and high stability, it still can not entirely eliminate the stick-slip phenomenon caused by the friction. In order to reduce this nonlinear phenomenon, this thesis establishes the friction model and bases on this model to implement the feed-forward compensator of the friction. Therefore, the control system has more powerful ability to perform precise positioning. In this research, the motion control interfaces are implemented through Visual C++ 2005 and adopt the MFC application frameworks. The interfaces are divided into two parts, one is the off-line motion control interface and another is the real-time motion control interface. These human/machine interfaces will facilitate the users to operate the system.
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Richter, Julia. "Machine-Vision-Based Activity, Mobility and Motion Analysis for Assistance Systems in Human Health Care." 2018. https://monarch.qucosa.de/id/qucosa%3A33745.
Full textAbstract:
Due to the continuous ageing of our society, both the care and the health sector will encounter challenges in maintaining the quality of human care and health standards.
While the number of people with diseases such as dementia and physical illness will be rising, we are simultaneously recording a lack of medical personnel such as caregivers and therapists.
One possible approach that tackles the described problem is the employment of technical assistance systems that support both medical personnel and elderly living alone at home.
This thesis presents approaches to provide assistance for these target groups.
In this work, algorithms that are integrated in prototypical assistance systems for vision-based human daily activity, mobility and motion analysis have been developed.
The developed algorithms process 3-D point clouds as well as skeleton joint positions to generate meta information concerning activities and the mobility of elderly persons living alone at home. Such type of information was not accessible so far and is now available for monitoring. By generating this meta information, a basis for the detection of long-term and short-term health changes has been created.
Besides monitoring meta information, mobilisation for maintaining physical capabilities, either ambulatory or at home, is a further focus of this thesis. Algorithms for the qualitative assessment of physical exercises were therefore investigated. Thereby, motion sequences in the form of skeleton joint trajectories as well as the heat development in active muscles were considered. These algorithms enable an autonomous physical training under the supervision of a virtual therapist even at home.Aufgrund der voranschreitenden Überalterung unserer Gesellschaft werden sowohl der Pflege- als auch der Gesundheitssektor vor enorme Herausforderungen gestellt. Während die Zahl an vorrangig altersbedingten Erkrankungen, wie Demenz oder physische Erkrankungen des Bewegungsapparates, weiterhin zunehmen wird, stagniert die Zahl an medizinischem Fachpersonal, wie Therapeuten und Pflegekräften. An dieser Stelle besteht das Ziel, die Qualität medizinischer Leistungen auf hohem Niveau zu halten und dabei die Einhaltung von Pflege- und Gesundheitsstandards sicherzustellen. Ein möglicher Ansatz hierfür ist der Einsatz technischer Assistenzsysteme, welche sowohl das medizinische Personal und Angehörige entlasten als auch ältere, insbesondere allein lebende Menschen zu Hause unterstützen können. Die vorliegende Arbeit stellt Ansätze zur Unterstützung der genannten Zielgruppen vor, die prototypisch in Assistenzsystemen zur visuellen, kamerabasierten Analyse von täglichen Aktivitäten, von Mobilität und von Bewegungen bei Trainingsübungen integriert sind. Die entwickelten Algorithmen verarbeiten dreidimensionale Punktwolken und Gelenkpositionen des menschlichen Skeletts, um sogenannte Meta-Daten über tägliche Aktivitäten und die Mobilität einer allein lebenden Person zu erhalten. Diese Informationen waren bis jetzt nicht verfügbar, können allerdings für den Patienten selbst, für medizinisches Personal und Angehörige aufschlussreich sein, denn diese Meta-Daten liefern die Grundlage für die Detektion kurz- und langfristiger Veränderungen im Verhalten oder in der Mobilität, die ansonsten wahrscheinlich unbemerkt geblieben wären. Neben der Erfassung solcher Meta-Informationen liegt ein weiterer Fokus der Arbeit in der Mobilisierung von Patienten durch angeleitetes Training, um ihre Mobilität und körperliche Verfassung zu stärken. Dabei wurden Algorithmen zur qualitativen Bewertung und Vermittlung von Korrekturhinweisen bei physischen Trainingsübungen entwickelt, die auf Trajektorien von Gelenkpositionen und der Wärmeentwicklung in Muskeln beruhen. Diese Algorithmen ermöglichen aufgrund der Nachahmung eines durch den Therapeuten gegebenen Feedbacks ein autonomes Training.
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Cardoso, Fernando Eduardo de Magalhães. "Motion sense, o que um carro sente: desenvolvimento de uma aplicação de georreferenciação para levantamento do estado das estradas." Master's thesis, 2013. http://hdl.handle.net/10437/5302.
Full textAbstract:
Orientação: Manuel José DamásioVivemos numa sociedade cada vez mais rodeada de sensores. Quer estejamos no carro, no elevador, em frente ao computador, em casa ou na rua, estes encontram-se sempre presentes. Este número crescente dá-nos a oportunidade de capturar informação sobre o estado que rodeia o utilizador e de a usar para fornecer uma visualização coletiva do mesmo. Esta dissertação tem por objetivo desenvolver um sistema que permita a recolha, através de sensores, de dados referentes ao estado das estradas e suas visualização e partilha. O estado lamentável a que chegaram as estradas portuguesas, foi o ponto de partida para a nossa investigação. Iniciou-se depois a pesquisa das várias ferramentas possíveis para reunir estes dados e, uma vez decidida qual utilizar, foi necessário criar um algoritmo que descodificasse o estado da estrada. O objetivo final é, depois de recolhidos e tratados, os dados ficarem ao dispor de todos os utilizadores da rede, num servidor central, contribuindo assim para a criação de mapas, que nos mostrem em tempo real o estado das estradas. Criámos então uma aplicação em sistema «Android», com vista à utilização em dispositivos pessoais, para proceder à recolha e partilha da informação em estudo. Uma vez concluía, procedemos ao teste da aplicação através de um estudo de usabilidade que visa funcionar como prova de conceito referente à cidade de Lisboa. No futuro, com o crescer da base de dados, será possível utilizar esta informação para aumentar a segurança rodoviária. Por exemplo, os sistemas de navegação «GPS» comuns poderão não só avisar sobre situações perigosas relacionadas com o estado da estrada, como também definir rotas alternativas tendo em conta os dados recolhidos. Este será também um novo instrumento à disposição dos decisores, já que será possível detetar uma nova fissura no pavimento quase de imediato e acionar os mecanismos necessários à sua reparação, como se de um jogo de «SimCity» se tratasse, decidindo de forma mais informada e consciente onde intervir para melhorar a segurança de todos.
We live in a society monitored by sensors. Whether we are in the car, in the lift, in front of a pc, at home or on the street, the sensors are always present. This growing number gives us the opportunity to capture information about that surrounds the user, allowing a collective view of it. These thesis aims to develop a system to collect information of data concerning the physical condition of roads, visualizing them and sharing. The sorry state reached by the Portuguese roads, was the starting point of our investigation. Then there was a research about the several tools available to recollect the data. The ultimate goal is once the data is collected and processedit could become available to all users of the network in a central server, thus contributing to the creation of maps that show us in real time the state of the roads. We created an application in Android, so people could use it on their personal devices, for collection and sharing of the information used in the study. Once concluded, we made a usability test for the application, which aims to serve as a proof of concept regarding the city of Lisbon. In the future, with the growth of the data base, it will be possible to use this information to achieve a higher degree of road security. As an example, ordinary «GPS» devices will be able to inform about dangerous points or situations in the road and supply alternative routes taking into account the analyzed data. This will also be a new tool for policy makers, has it will be possible to identify a fissure in the pavement, and almost immediately take action to its reparation, as in a game of «SimCity», choosing the most accurate and conscientious way to reach and improve the safety of all.
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El-Khatib, Mayar. "Highway Development Decision-Making Under Uncertainty: Analysis, Critique and Advancement." Thesis, 2010. http://hdl.handle.net/10012/5741.
Full textAbstract:
While decision-making under uncertainty is a major universal problem, its implications in the field of transportation systems are especially enormous; where the benefits of right decisions are tremendous, the consequences of wrong ones are potentially disastrous.
In the realm of highway systems, decisions related to the highway configuration (number of lanes, right of way, etc.) need to incorporate both the traffic demand and land price uncertainties. In the literature, these uncertainties have generally been modeled using the Geometric Brownian Motion (GBM) process, which has been used extensively in modeling many other real life phenomena. But few scholars, including those who used the GBM in highway configuration decisions, have offered any rigorous justification for the use of this model.
This thesis attempts to offer a detailed analysis of various aspects of transportation systems in relation to decision-making. It reveals some general insights as well as a new concept that extends the notion of opportunity cost to situations where wrong decisions could be made. Claiming deficiency of the GBM model, it also introduces a new formulation that utilizes a large and flexible parametric family of jump models (i.e., Lévy processes). To validate this claim, data related to traffic demand and land prices were collected and analyzed to reveal that their distributions, heavy-tailed and asymmetric, do not match well with the GBM model. As a remedy, this research used the Merton, Kou, and negative inverse Gaussian Lévy processes as possible alternatives.
Though the results show indifference in relation to final decisions among the models, mathematically, they improve the precision of uncertainty models and the decision-making process. This furthers the quest for optimality in highway projects and beyond.