One of the purposes of this study is to develop a vision system consisting of 3 inexpensive, commercial cameras. The system is intended to be used for tracking the motion of objects in a large calibration volume, typically 6.5 m. wide and 0.7 m. high. Hence, a mechanism is designed and constructed for the calibration of the cameras. The second purpose of the study is to develop an algorithm, which can be used to obtain the kinematic data associated with a rigid body, using a vision system. Special filters are implemented in the algorithm to identify the 3 markers attached on the body. Optimal curves are fitted to the position data of the markers after smoothing the data appropriately. The outputs of the algorithm are the position, velocity and acceleration of any point (visible or invisible) on the body and the angular velocity and acceleration of the body. The singularities associated with the algorithm are also determined. Using the vision setup and the developed algorithm for tracking the kinematics of a rigid body, the motions of the saddles of different horses are investigated for different gaits. Similarities and differences between horses and/or gaits are analyzed to lead to quantitative results. Using the limits induced by the whole body vibration of humans, for the first time in the world, daily, allowable riding time and riding distances are determined for different horses and gaits. Furthermore, novel, quantitative horse comfort indicators are proposed. Via the experiments performed, these indicators are shown to be consistent with the comfort assessment of experienced riders. Finally, in order to implement the algorithms proposed in this study, a computer code is developed using MATLAB&reg / .

Recently, sensors such as radars and cameras have been widely used in automotives, especially in Advanced Driver-Assistance Systems (ADAS), to collect information about the vehicle's surroundings. Stereo cameras are very popular as they could be used passively to construct a 3D representation of the scene in front of the car. This allowed the development of several ADAS algorithms that need 3D information to perform their tasks. One interesting application is Road Surface Preview (RSP) where the task is to estimate the road height along the future path of the vehicle. An active suspension control unit can then use this information to regulate the suspension, improving driving comfort, extending the durabilitiy of the vehicle and warning the driver about potential risks on the road surface. Stereo cameras have been successfully used in RSP and have demonstrated very good performance. However, the main disadvantages of stereo cameras are their high production cost and high power consumption. This limits installing several ADAS features in economy-class vehicles. A less expensive alternative are monocular cameras which have a significantly lower cost and power consumption. Therefore, this thesis investigates the possibility of solving the Road Surface Preview task using a monocular camera. We try two different approaches: structure-from-motion and Convolutional Neural Networks.The proposed methods are evaluated against the stereo-based system. Experiments show that both structure-from-motion and CNNs have a good potential for solving the problem, but they are not yet reliable enough to be a complete solution to the RSP task and be used in an active suspension control unit.

Made available in DSpace on 2016-12-12T17:38:31Z (GMT). No. of bitstreams: 1 Ramon Semim.pdf: 14297122 bytes, checksum: 53b76af6dde165965a87172ef45a1143 (MD5) Previous issue date: 2012-08-13 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This work presents the development of low cost vision system to use on the robotized work cell installed in a foundry finishing line at Tupy S.A. The work cell will use an industrial robot to make the Oil bath and Palletizing of head blocks. The robot job will be moving the parts inside work station. The head blocks input at work cell through a conveyor that moves the parts to robot grasp area. The robotized cell will process 26 different kinds of parts and will be feeding by a human operator, so this is a problem because the head blocks position/orientation on the conveyor will be random. To development was used both low cost webcam and lightning modules. The vision system should find the head block model as well as find its position/orientation. These information are enough to robot grasp the head blocks on the input conveyor. The main image processing tools used on the project are the Pearson Correlation and the Hough Transform. System calibration defines the coordinate system position and orientation, as well as the pixel size. These parameters are important to find out the head block position/orientation. To grasp the parts the robot will reposition and reorient its coordinate system. The industrial robot used in this work is IRB6640, supplied by ABB. It has six degrees of freedom and uses quaternion to define the position/orientation of its end effector. / Este trabalho apresenta o desenvolvimento de um sistema de visão de baixo custo que será utilizado em uma célula robotizada, implantada em uma das linhas de acabamento de cabeçotes da Tupy S.A. Tal célula será responsável pelas operações de oleação e paletização de cabeçotes fundidos, e a função do robô será manipular as peças entre as estações de trabalho. Os cabeçotes entrarão na célula por meio de um transportador com roletes, onde o robô fará a pega das peças para iniciar a sua manipulação. A célula processará 26 tipos diferentes de cabeçotes e será abastecida manualmente, por isso as peças são disponibilizadas ao robô de forma aleatória. Foram empregados uma webcam e módulos de iluminação de baixo custo no projeto. O sistema de visão deve classificar os cabeçotes, de modo a identificar o modelo de cada peça analisada. Outra função do sistema de visão é encontrar a posição e a orientação de cada cabeçote que entrar na célula. Com essas informações o robô será capaz de efetuar a pega de forma correta, independentemente da orientação com a qual o cabeçote entrar na linha. As principais ferramentas de processamento de imagens utilizadas são a Correlação de Pearson e a Transformada de Hough. A calibração do sistema de visão define a posição e a orientação do sistema de coordenadas da câmera, bem como a dimensão de um pixel. Esses parâmetros são fundamentais para que a posição de pega do robô seja encontrada corretamente. Para que seja possível efetuar a pega dos cabeçotes o robô terá de reposicionar e reorientar o seu sistema de coordenadas. O robô usado é o modelo IRB6640, fabricado pela empresa ABB. Ele possui seis graus de liberdade e utiliza quatérnios para definir a orientação do seu efetuador final.

Dans cette thèse, en collaboration avec l'entreprise AéroDRONES, le Laboratoire Bordelais de Recherche en Informatique et l'INRIA, nous abordons le problème de la perception de l'environnement à partir d'une caméra embarquée sur un drone léger. Nous avons conçu, développé et validé de nouvelles méthodes de traitement qui optimisent l'exploitation des données produites par des systèmes de prise de vue aéroportés bas coût. D'une part, nous présentons une méthode d'autocalibrage de la caméra et de la tourelle d'orientation, sans condition spécifique sur l'environnement observé. Ensuite nous proposons un nouvel algorithme pour extraire la rotation de la caméra calibrée entre deux images (gyroscope visuel) et l'appliquons à la stabilisation vidéo en temps réel. D'autre part, nous proposons une méthode de géoréférencement des images par fusion avec un fond cartographique existant. Cette méthode permet d'enrichir des bases de données de photos aériennes, en gérant les cas de non-planéité du terrain. / The last decade has seen the emergence of many Unmanned Aerial Vehicles (UAV) which are becoming increasingly cheap and miniaturized. A mounted video-camera is standard equipment and can be found on any such UAVs. In this context, we present robust techniques to enhance autonomy levels of airborne vision systems based on mini-UAV technologies. First, we present a camera autocalibration method based on central projection based image \dimension{2}-invariants analysis and we compare it to classical Dual Image of the Absolute Conic (DIAC) technique. We present also a method to detect and calibrate turret's effectors hierarchy. Then, we propose a new algorithm to extract a calibrated camera self-rotation (visual gyroscope) and we apply it to propose a real-time video stabilizer with full perspective correction.

This thesis is analysing the historical evolution of flight instruments and aims at the design of a new, enhanced cockpit that includes basic flight instruments supplemented by data from selected aircraft subsystems. The design is based on currently available electronic instruments, known as EFIS, presently used onboard Boeing 737-800 cockpit. The proposed design aims at improvements to graphic style of EFIS, and accomodation of new data into newly designed displays. As a result of this effort, a set of design concepts is created. Those are then implemented as fully functional set of displays using custom made user interface system design tool.

Die gemeinsame Integration von Bildsensor und analoger hochparalleler Verarbeitungseinheit stellt eine Möglichkeit zur Realisierung von leistungsfähigen ein-chip Bildaufnahmesystemen dar. Die vorliegende Arbeit liefert Beiträge zum systematischen Entwurf von derartigen Systemen und analysiert bekannte und neuartige Schaltungstechniken bezüglich ihrer Eignung für deren Implementierung. Anhand des vom Autor mitentwickelten CMOS-Bildsensors mit hochparalleler analoger Bildverarbeitungseinheit werden die vorgestellten Methoden und Schaltungstechniken demonstriert. Die Problematik beim Entwurf hochparalleler analoger Systeme besteht in der im Vergleich zu digitalen Systemen geringen Automatisierbarkeit. Es ist kein top-down-Entwurf möglich, da nicht jede beliebige Funktion mit beliebiger Genauigkeit realisierbar ist. Um die jeweilige Genauigkeit der Funktionsblöcke bei der Analyse des hochparallelen Systems berücksichtigen zu können, sind rechenaufwendige Simulationen nötig. Um diesen Rechenaufwand zu senken, wird vorgeschlagen, für die Simulation des Gesamtsystems einen angepaßten Simulator und für die Analyse der schaltungstechnischen Realisierung der Funktionsblöcke konventionelleWerkzeuge für elektrische Netzwerke zu verwenden. Die beiden Simulationsdomänen werden mit Hilfe von numerischen Verhaltensmodellen verbunden. Durch diese Trennung wird die Simulation des Gesamtsystems als Bestandteil des Entwurfsflusses praktikabel. Für die Bewertung, inwieweit die zufälligen Schwankungen der Bauelementeparameter das Verhalten von Baublöcken beeinflussen, wird die Varianzanalyse als Alternative zur konventionellen Monte-Carlo-Analyse vorgeschlagen. Die Varianzanalyse ist wesentlich weniger rechenaufwendig und liefert genaue Resultate für alle Schaltungseigenschaften mit hinreichend glatten Parameterabhängigkeiten, wenn die Bauelementeparameter als normalverteilt und statistisch unabhängig angenommen werden können. Sie hat darüberhinaus den Vorteil, das Schaltungsverständnis für den Entwerfer zu erhöhen, da sofort die Bauelementeparameter mit dem größten Einfluß auf das Schaltungsverhalten identifiziert werden können. Der Vergleich verschiedener Schaltungstechniken hat gezeigt, daß zeitdiskrete wertkontinuierliche Verfahren, bei denen die Information als Strom repräsentiert wird, für die Realisierung von hochparallelen analogen Systemen besonders geeignet sind. Als besonderer Vorteil ist die weitestgehende Unabhängigkeit des Verhaltens derartiger Schaltungen von Bauelementeparametern hervorzuheben.Weitere Schaltungstechniken, deren Verhalten von zufälligen Parameterabweichungen nur wenig beeinflußt werden, sind in einer Taxonomie zusammengefaßt. Es wurde ein CMOS-Bildsensor mit hochparalleler analoger Bildverarbeitungseinheit und digitaler Ausgabe realisiert. Der current-mode-Bildsensor ist separat von der Verarbeitungseinheit angeordnet. Es wurden vier verschiedene Realisierungsmöglichkeiten untersucht und eine konventionelle integrierende voltage-mode Pixelzelle mit nachfolgendem differentiellen Spannungs- Strom-Wandler realisiert. Das Rechenfeld ist für die räumliche Faltung oder lineare Transformation von Bilddaten mit digital bereitzustellenden Koeffizienten ausgelegt. Dessen Operation basiert auf einer bit-weisen analogen Verarbeitung. Der Schaltkreis wurde erfolgreich getestet. Die nachgewiesene Bildqualität deckt sich in guter Näherung mit den bei der Simulation des Gesamtsystems getroffenen Vorhersagen / The joined implementation of an image sensor and a highly parallel analog processing unit is an advantageous approach for realizing efficient single-chip vision systems. This thesis proposes a design flow for the development of such systems. Moreover known and novel circuit techniques are analysed with respect for their suitability for the implementation of highly parallel systems. The presented methodologies and circuit techniques are demonstrated at the example of a CMOS image sensor with an embedded highly parallel analog image processing unit in whose design the author was involved. One of the major problems in designing highly parallel analog circuits is the low automation compared to the design of digital circuits. As not every function can be realized with arbitrary accuracy top-down-design is not feasible. So, when analysing the system behaviour the respective precision of each function block has to be considered. As this is a very demanding task in terms of computing power, it is proposed to use a dedicated tool for the simulation of the system and conventional network analysis tools for the inspection of the circuit realizations. Both simulation domains are combined by means of numerical behavioural models. By using separate tools system-simulations of highly parallel analog systems as a part of the design flow become practicable. Variance analysis basing on parameter sensitivities is proposed as an alternative to the conventional Monte-Carlo-analysis for investigating the influence of random device parameter variations on the system behaviour. Variance analysis requires much less computational effort while providing accurate results for all circuit properties with sufficiently smooth parameter dependencies if the random parameters can be assumed normally distributed and statistically independent. Additionally, variance analysis increases the designer’s knowledge about the circuit, as the device parameters with the highest influence on the circuit performance can immediately be identified. The comparison of various circuit techniques has shown, that sampled-time continuous-valued current-mode principles are the best choice for realizing highly parallel analog systems. A distinctive advantage of such circuits is their almost independence from device parameters. A selection of further circuit techniques with low sensitivity to random device parameter variations are summarized in a taxonomy. A CMOS image sensor with embedded highly parallel analog image processing unit has been implemented. The image sensor provides a current-mode output and is arranged separate from the processing unit. Four different possibilities for realizing an image sensor have been analysed. A conventional integrating voltage-mode pixel cell with a succeeding differential voltage- to-current-converter has been selected. The processing unit is designed for performing spatial convolution and linear transformation with externally provided digital kernels. It operates in bit-wise analog manner. The chip has been tested successfully. The measured image quality in good approximation corresponds with the estimations made with system simulations.

The purpose of the study was to find out what challenges governments have encountered when implementing Artificial Intelligence.  The method used was qualitative and the interviews were conducted remotely. Four governments were interviewed where respondents were asked questions about what they had experienced as challenges in the implementation of AI. The results were analyzed against previous studies and compiled by picking out themes from the transcribed interviews.  The results of the survey identify a number of challenges linked to three main themes: the lack of knowledge, challenges around data and when challenges arise.

Small and medium-sized enterprises are highly limited on resources for the transformation into smart factories. Nytt AB, a new startup specialized in smart manufacturing solutions, is completely focused on taking down the barriers with a basic solution: implementing a machine vision system with the purpose to monitor the machines of the factories. The main aim of this thesis is to analyze the data collected from two different machines of a medium-sized factory by monitoring the color states of the stack lights.First of all, some topics are analyzed in order to get a better understanding and knowledge of the main topic of this thesis: smart manufacturing. Secondly, the methodology used during the project is explained. Thirdly, the product developed by Nytt AB is described to get a better understanding. Together with this, the companies where the product is implemented are described. The next step is the presentation of the results by analyzing the data according to these parameters:(i), the availability of the machines, (ii), critical machine tool analysis; (iii),machine idling time; (iv), disruption events; and finally, (v), information transfer. In the results, some graphs and discussions are presented. In the following chapter the conclusions are presented, which allow the analyzed company to improve its current state. Lastly, the relocation of the product into the critical machine, the implementation of new sensors to detect temperature and vibration values of the machines and the implementation of the module OpApp within the factories are suggestions presented as future work at the end of this report. / Små och medelstora företag har mycket begränsade resurser för omvandling till smarta fabriker. Nytt AB, ett nystartat företag inom smart tillverkning, är helt fokuserad på att ta bort hinder med en enkel lösning: implementering av ett kamerasystem för övervakning av maskiner i fabriker. Huvudsyftet med detta examensarbete är att analysera data som samlats in från två olika maskiner i en medelstor fabrik genom att övervaka färgändringar i deras ljuspelare. För det första analyseras några ämnesområden för att få en bättre förståelse och kunskap om huvudtemat i detta examensarbete: smart tillverkning. För det andra förklaras den metod som används under projektet. För det tredje beskrivs den produkt som utvecklats av Nytt AB för att få en bättre förståelse. Tillsammans med detta beskrivs de företag där produkten implementeras. Nästa steg är presentationen av resultatet genom att analysera data enligt följande parametrar:(i), maskinens tillgänglighet; (ii), kritisk verktygsmaskinanalys; (iii), maskinens tomgångstid; (iv), störningshändelser och slutligen; (v), informationsöverföring. I resultatet presenteras några grafer och diskussioner. Slutsatserna presenteras därefter. Dessa slutsatser gör att det analyserade företaget kan förbättra sitt nuvarande tillstånd. Som framtida arbete föreslås slutligen flytt av kamerasystemet till den kritiska maskinen, införande av nya sensorer för att övervaka temperaturer och vibrationsvärden för maskinerna och implementeringav modulen OpApp i fabriker.

A reação álcali-agregado - RAA é uma patologia de ação lenta que tem sido observada em construções de concreto capaz de comprometer suas estruturas. Sabe-se que a reação álcali-agregado é um fenômeno bastante complexo em virtude da grande variedade de rochas na natureza que são empregadas como agregados no preparo do concreto, podendo cada mineral utilizado afetar de forma distinta a reação ocorrida. Em função dos tipos de estrutura, das suas condições de exposição e dos materiais empregados, a RAA não se comporta sempre da mesma forma, em virtude disto a pesquisa constante neste tema é necessária para o meio técnico e a sociedade. Pesquisas laboratoriais, empíricas e experimentais tem sido rotina em muitos dos estudos da RAA dada ainda à carência de certas definições mais precisas a respeito dos métodos de ensaio, mas também em função da necessidade do melhor conhecimento dos materiais de uso em concretos como os agregados, cimentos, adições, aditivos entre outros e do comportamento da estrutura. Embora técnicas de prevenção possam reduzir significativamente a incidência da RAA, muitas estruturas foram construídas antes que tais medidas fossem conhecidas, havendo no Brasil vários casos de estruturas afetadas, sendo custosos os reparos dessas estruturas. Em estudos recentes sobre o tamanho das partículas de álcali-agregado e sua distribuição foi concluído que o tamanho do agregado está relacionado com o potencial danoso da RAA. Existem ainda indícios de que o tamanho e a distribuição dos poros do concreto também sejam capazes de influenciar o potencial reativo do concreto. Neste trabalho desenvolvemos um Sistema de Visão Artificial (SVA) que, com o uso de técnicas de Processamento de Imagens, é capaz de identificar em imagens de concreto, agregado e poros que atendam em sua forma, às especificações do usuário, possibilitando o cálculo da porosidade e produzindo imagens segmentadas à partir das quais será possível extrair dados relativos à geometria desses elementos. Serão feitas duas abordagens para a obtenção das imagens, uma por Escâner Comercial, que possui vantagens relacionadas à facilidade de aquisição do equipamento, e outra por micro tomógrafo. Uma vez obtidas informações sobre as amostras de concreto, estas podem ser utilizadas para pesquisar a RAA, comparar estruturas de risco com estruturas antigas de forma a melhorar a previsão de risco de ocorrência, bem como serem aplicadas a outras no estudo de outras patologias do concreto menos comuns no nosso país, como o efeito gelo/degelo. / The alkali-aggregate reaction - RAA is a condition of slow action that has been observed in concrete constructions that could affect their structures. It is known that the alkali-aggregate reaction is a very complex phenomenon because of the great variety of rocks in nature that are used as aggregates for concrete, and each mineral used differently affects the reaction occurred. Depending on the type of structure, its exposure conditions and the materials used, this phenomenon does not always behaves the same way, because of this, constant research in this area is needed for the technical means and the society. Laboratory, empirical and experimental research has been routine in many of the RAA studies still given the lack of certain more precise definitions concerning the testing methods, but also because of the need for better understanding of the use of materials in concrete as aggregate, cement, additions, additives etc. and structure behavior. Prevention techniques could significantly reduce the incidence of RAA. Still, many structures were built before such measures were known, several cases of affected structures were discovered in Brazil, all with large spending on repairs of the affected structures. In recent studies on the particle size of the alkaliaggregate and its distribution was concluded that the aggregate size is related to the damaging potential of the RAA. There are also indications that the size and distribution of concrete pores are also capable of influencing the reactive potential of the concrete. In the present work we developed an Artificial Vision System ( VAS ) that uses image processing techniques to identify aggregate and pores in hardened concrete images, enabling the calculation of porosity and producing segmented images that can be used to investigate data about the geometry of these elements. Were made two approaches for obtaining the images, one by Scanner Commercial, which has related advantages will ease the acquisition of equipment, and other micro CT scanner. Once obtained information on the concrete samples, these can be used to search the AAR compared risk structures with old structures so as to enhance the occurrence of risk prediction, as well as be applied to other concrete in the study of other pathologies less common in our country, as ice effect / thaw.

A reação álcali-agregado - RAA é uma patologia de ação lenta que tem sido observada em construções de concreto capaz de comprometer suas estruturas. Sabe-se que a reação álcali-agregado é um fenômeno bastante complexo em virtude da grande variedade de rochas na natureza que são empregadas como agregados no preparo do concreto, podendo cada mineral utilizado afetar de forma distinta a reação ocorrida. Em função dos tipos de estrutura, das suas condições de exposição e dos materiais empregados, a RAA não se comporta sempre da mesma forma, em virtude disto a pesquisa constante neste tema é necessária para o meio técnico e a sociedade. Pesquisas laboratoriais, empíricas e experimentais tem sido rotina em muitos dos estudos da RAA dada ainda à carência de certas definições mais precisas a respeito dos métodos de ensaio, mas também em função da necessidade do melhor conhecimento dos materiais de uso em concretos como os agregados, cimentos, adições, aditivos entre outros e do comportamento da estrutura. Embora técnicas de prevenção possam reduzir significativamente a incidência da RAA, muitas estruturas foram construídas antes que tais medidas fossem conhecidas, havendo no Brasil vários casos de estruturas afetadas, sendo custosos os reparos dessas estruturas. Em estudos recentes sobre o tamanho das partículas de álcali-agregado e sua distribuição foi concluído que o tamanho do agregado está relacionado com o potencial danoso da RAA. Existem ainda indícios de que o tamanho e a distribuição dos poros do concreto também sejam capazes de influenciar o potencial reativo do concreto. Neste trabalho desenvolvemos um Sistema de Visão Artificial (SVA) que, com o uso de técnicas de Processamento de Imagens, é capaz de identificar em imagens de concreto, agregado e poros que atendam em sua forma, às especificações do usuário, possibilitando o cálculo da porosidade e produzindo imagens segmentadas à partir das quais será possível extrair dados relativos à geometria desses elementos. Serão feitas duas abordagens para a obtenção das imagens, uma por Escâner Comercial, que possui vantagens relacionadas à facilidade de aquisição do equipamento, e outra por micro tomógrafo. Uma vez obtidas informações sobre as amostras de concreto, estas podem ser utilizadas para pesquisar a RAA, comparar estruturas de risco com estruturas antigas de forma a melhorar a previsão de risco de ocorrência, bem como serem aplicadas a outras no estudo de outras patologias do concreto menos comuns no nosso país, como o efeito gelo/degelo. / The alkali-aggregate reaction - RAA is a condition of slow action that has been observed in concrete constructions that could affect their structures. It is known that the alkali-aggregate reaction is a very complex phenomenon because of the great variety of rocks in nature that are used as aggregates for concrete, and each mineral used differently affects the reaction occurred. Depending on the type of structure, its exposure conditions and the materials used, this phenomenon does not always behaves the same way, because of this, constant research in this area is needed for the technical means and the society. Laboratory, empirical and experimental research has been routine in many of the RAA studies still given the lack of certain more precise definitions concerning the testing methods, but also because of the need for better understanding of the use of materials in concrete as aggregate, cement, additions, additives etc. and structure behavior. Prevention techniques could significantly reduce the incidence of RAA. Still, many structures were built before such measures were known, several cases of affected structures were discovered in Brazil, all with large spending on repairs of the affected structures. In recent studies on the particle size of the alkaliaggregate and its distribution was concluded that the aggregate size is related to the damaging potential of the RAA. There are also indications that the size and distribution of concrete pores are also capable of influencing the reactive potential of the concrete. In the present work we developed an Artificial Vision System ( VAS ) that uses image processing techniques to identify aggregate and pores in hardened concrete images, enabling the calculation of porosity and producing segmented images that can be used to investigate data about the geometry of these elements. Were made two approaches for obtaining the images, one by Scanner Commercial, which has related advantages will ease the acquisition of equipment, and other micro CT scanner. Once obtained information on the concrete samples, these can be used to search the AAR compared risk structures with old structures so as to enhance the occurrence of risk prediction, as well as be applied to other concrete in the study of other pathologies less common in our country, as ice effect / thaw.