Stereo Viewing and Virtual Reality Technologies in Mobile Robot Teleguide

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/TRO.2009.2028765The use of 3-D stereoscopic visualization may provide a user with higher comprehension of remote environments in teleoperation when compared with 2-D viewing, in particular, a higher perception of environment depth characteristics, spatial localization, remote ambient layout, faster system learning, and decision performance. Works in the paper have demonstrated how stereo vision contributes to the improvement of the perception of some depth cues, often for abstract tasks, while it is hard to find works addressing stereoscopic visualization in mobile robot teleguide applications. This paper intends to contribute to this aspect by investigating the stereoscopic robot teleguide under different conditions, including typical navigation scenarios and the use of synthetic and real images. This paper also investigates how user performance may vary when employing different display technologies. Results from a set of test trials run on seven virtual reality systems, from laptop to large panorama and from head-mounted display to Cave automatic virtual environment (CAVE), emphasized few aspects that represent a base for further investigations as well as a guide when designing specific systems for telepresence.Peer reviewe

Mobile robotic teleguide based on video images

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/MRA.2008.929927Peer reviewe

Senior Recital: Amanda Muscato

Kemp Recital HallOctober 18, 2014Saturday Noo

A Hydrodynamic Model for Silicon Nanowires Based on the Maximum Entropy Principle

Silicon nanowires (SiNW) are quasi-one-dimensional structures in which the electrons are spatially confined in two directions, and they are free to move along the axis of the wire. The spatial confinement is governed by the Schrodinger–Poisson system, which must be coupled to the transport in the free motion direction. For devices with the characteristic length of a few tens of nanometers, the transport of the electrons along the axis of the wire can be considered semiclassical, and it can be dealt with by the multi-sub-band Boltzmann transport equations (MBTE). By taking the moments of the MBTE, a hydrodynamic model has been formulated, where explicit closure relations for the fluxes and production terms (i.e., the moments on the collisional operator) are obtained by means of the maximum entropy principle of extended thermodynamics, including the scattering of electrons with phonons, impurities and surface roughness scattering. Numerical results are shown for a SiNW transistor

A class of stochastic algorithms for the Wigner equation

A class of stochastic algorithms for the numerical treatment of the Wigner equation is introduced. The algorithms are derived using the theory of pure jump processes with a general state space. The class contains several new algorithms as well as some of the algorithms previously considered in the literature. The approximation error and the efficiency of the algorithms are analyzed. Numerical experiments are performed in a benchmark test case, where certain advantages of the new class of algorithms are demonstrated

design and simulation of two robotic systems for automatic artichoke harvesting

The target of this research project was a feasibility study for the development of a robot for automatic or semi-automatic artichoke harvesting. During this project, different solutions for the mechanical parts of the machine, its control system and the harvesting tools were investigated. Moreover, in cooperation with the department DISPA of University of Catania, different field structures with different kinds of artichoke cultivars were studied and tested. The results of this research could improve artichoke production for preserves industries. As a first step, an investigation on existing machines has been done. From this research, it has been shown that very few machines exist for this purpose. Based also on previous experiences, some proposals for different robotic systems have been done, while the mobile platform itself was developed within another research project. At the current stage, several different configurations of machines and harvesting end-effectors have been designed and simulated using a 3D CAD environment interfaced with Matlab®. Moreover, as support for one of the proposed machines, an artificial vision algorithm has been developed in order to locate the artichokes on the plant, with respect to the robot, using images taken with a standard webcam

A stochastic algorithm without time discretization error for the Wigner equation

Stochastic particle methods for the numerical treatment of the Wigner equation are considered. The approximation properties of these methods depend on several numerical parameters. Such parameters are the number of particles, a time step (if transport and other processes are treated separately) and the grid size (used for the discretization of the position and the wave-vector). A stochastic algorithm without time discretization error is introduced. Its derivation is based on the theory of piecewise deterministic Markov processes. Numerical experiments are performed in a one-dimensional test case. Approximation properties with respect to the grid size and the number of particles are studied. Convergence of a time-splitting scheme to the no-splitting algorithm is demonstrated. The no-splitting algorithm is shown to be more efficient in terms of computational effort