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Depth estimation for visually impaired people using mobile devices

Navarro, Felipe; Cancino, Sandra; Estupiñán, Enrique (IEEE XploreNueva Jersey, Estados Unidos., 2014)

This paper presents the development of an application to estimate depth using mobile devices that could help visually impaired people to navigate in everyday sites. The mobile device incorporates a stereo camera system and ...
Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy

Rodriguez Cheu, Luis Eduardo; Cancino, S.; Rodríguez, M.; Ortiz, J. G. (IEEE XploreNueva Jersey, Estados Unidos., 2010)

This paper describes the implementation of a robotic system using artificial vision as a computational tool developed for the evaluation of kinematic parameters during underwater gait therapy. This work is focused in the ...
Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas

ESTUPIÑÁN, ENRIQUE; Rodríguez B, Luz Angelica; Jaimes, Sonia; Toro Santamaria, Diego German (INCAE Business SchoolColombia, 2014)

La vida útil de las luminarias, como la de cualquier Aparato Eléctrico y Electrónico (AEE) está determinada por diferentes factores que interactúan entre ellos, como son la forma en la que se usa, la cantidad de horas de ...
Experiences in video processing laboratory

Cancino Suárez, Sandra Liliana; Estupiñán Escalante, Enrique; Makowski, Dominik (Science and Education Research CouncilColombia, 2011)

Noise in digital video is typically handled with simple inter-frame operations and since these operations could be used in more advance video processing is a good starting point for any research on video. Although, there ...
Haptic aids for bilateral teleoperators

Pérez Ruíz, Alexander (SpringerSuiza, 2014)

Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping ...
Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Pérez, Alexander; Cadavid, Héctor; Rocha, Camilo (Springer NatureColombia, 2017)

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous ...

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Depth estimation for visually impaired people using mobile devices
...
Navarro, Felipe | 2014

This paper presents the development of an application to estimate depth using mobile devices that could help visually impaired people to navigate in everyday sites. The mobile device incorporates a stereo camera system and the application takes advantage of the operating system capabilities, such as parallel computation, hardware configuration, in conjunction with the image processing libraries to implement well known and fast performing algorithms for depth estimation. Each camera is calibrated separately and afterwards a stereo calibration is performed. Depth estimation is calculated using two different algorithms and an evaluation of their performance is presented. The mobile devices handle the computational load fast enough to be able to produce the results within the walk time at normal pace. Depth estimation error is low enough to allow object detection like obstacles, room walls or moving persons.

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Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy
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Rodriguez Cheu, Luis Eduardo | 2010

This paper describes the implementation of a robotic system using artificial vision as a computational tool developed for the evaluation of kinematic parameters during underwater gait therapy. This work is focused in the estimation of some angular kinematic variables during the gait process through video processing techniques. Two video acquisition protocols that differ in the limitations imposed to patients are proposed, these protocols lead to different processing methods. This study is entitled in a research project aimed at developing a tool that allows evaluating the underwater therapy benefits as part of the lower members' rehabilitation in patients that present human gait pathologies.

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Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas
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ESTUPIÑÁN, ENRIQUE | 2014

La vida útil de las luminarias, como la de cualquier Aparato Eléctrico y Electrónico (AEE) está determinada por diferentes factores que interactúan entre ellos, como son la forma en la que se usa, la cantidad de horas de uso, el tipo de tecnología que utilizan, los materiales que son usados para su fabricación, entre otros. No obstante, el ciclo de vida de los productos y específicamente de los AEE no se limita a la fase de uso. Otras fases son importantes como la de fin de vida, extracción de materiales y producción, más aun cuando en estas fases se generan bastantes impactos ambientales. Dado que la interacción de todas las etapas del ciclo de vida genera múltiples interrelaciones, éste artículo modela, a través de dinámica de sistemas el ciclo de vida de las luminarias en Bogotá, y posteriormente evalúa los comportamientos del sistema, al considerar diferentes Políticas de Producto Integradas (PPI), las cuales contribuyen a minimizar los impactos ambientales y a hacer un mejor uso de los recursos energéticos. Se asume que el ciclo de vida de las luminarias empieza en su producción, donde se requieren materias primas que pueden tener dos procedencias, material virgen y material reincorporado al proceso productivo proveniente del reciclado de luminarias. Posteriormente, la fase de uso inicia con la decisión de los usuarios en el proceso de compra o selección del tipo de luminarias, donde se identifican los factores que influyen en estas decisiones, para lo que se integraron factores socioeconómicos y culturales del estrato socioeconómico correspondiente, reflejando la población bogotana. En la fase de fin de vida, se estudiaron el proceso de reposición de las luminarias dañadas realizado por el consumidor, y los canales de reciclado formal e informal, identificando el material que termina en el relleno sanitario y el que es reincorporado a la cadena productiva de las luminarias como materia prima. Las políticas que se evaluaron fueron eliminación de material peligroso, reincorporación de materia prima reciclada al proceso productivo, cambio de precio de energía y cambios de nivel de eficiencia en las luminarias.

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Experiences in video processing laboratory
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Cancino Suárez, Sandra Liliana | 2011

Noise in digital video is typically handled with simple inter-frame operations and since these operations could be used in more advance video processing is a good starting point for any research on video. Although, there are many barriers to learn and comprehend video processing topics; these are related mainly to the learning curve of the hardware and software for video processing and the inherent complexity of video. In order to overcome the former, a set of guides ranging from video standards, to noise reduction algorithms, in simulation, Simulink and in hardware TMS320DM642, were developed to aid the selflearning processing either for researchers or students. In this paper we present the result of two different courses where this self-learning methodology was used and the results of selected noise removal algorithms.

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Haptic aids for bilateral teleoperators
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Pérez Ruíz, Alexander | 2014

Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach.

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Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots
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Pérez, Alexander | 2017

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language ( PLEXIL ), for autonomy of wheeled robots running the Robot Operating System ( ROS ). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS -enabled wheeled robots.

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Repositorio Digital

Tipo de Material

Depth estimation for visually impaired people using mobile devices

Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy

Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas

Experiences in video processing laboratory

Haptic aids for bilateral teleoperators

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Envíos recientes

Depth estimation for visually impaired people using mobile devices

Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy

Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas

Experiences in video processing laboratory

Haptic aids for bilateral teleoperators

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Tipo de Material

Depth estimation for visually impaired people using mobile devices ﻿

Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy ﻿

Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas ﻿

Experiences in video processing laboratory ﻿

Haptic aids for bilateral teleoperators ﻿

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots ﻿

Envíos recientes

Depth estimation for visually impaired people using mobile devices

Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy

Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas

Experiences in video processing laboratory

Haptic aids for bilateral teleoperators

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Depth estimation for visually impaired people using mobile devices

Development of robotic system with artificial vision for the evaluation of rehabilitation in underwater gait therapy

Estudio del ciclo de vida de las luminarias en Bogotá, usando Dinámica de Sistemas

Experiences in video processing laboratory

Haptic aids for bilateral teleoperators

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots