A sensor system suitable for measuring qualitative changes In the chemical and the bacterial content in drinking water is presented. The sensor, an electronic tongue, is based on a voltammetric technique and is theref...
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A sensor system suitable for measuring qualitative changes In the chemical and the bacterial content in drinking water is presented. The sensor, an electronic tongue, is based on a voltammetric technique and is therefore robust, simple and sensitive to small changes of water quality in the measured sample. The sensor system is constructed so the liquid sample will flow through the sensing unit while measuring continuously. The sensor has a solid construction, does not contain any fragile parts and is independent of how it is positioned. This creates new approaches and the sensor can easily be mounted on a underwater vehicle for continuous inspection of drinking water reservoirs and continuously monitor the quality of the water as well as be mounted directly on a drinking water tap.
This paper addresses the problem of extracting the important information from a complex response from an electronic tongue sensor. A wavelet transform is used in this approach and the approximation coefficients are ex...
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This paper addresses the problem of extracting the important information from a complex response from an electronic tongue sensor. A wavelet transform is used in this approach and the approximation coefficients are extracted as features and classified using a minimum distance classifier (MDC). Two experimental setups have been tested, water and milk, and the bacteriological growth are monitored. Using only the approximation coefficients, the amount of data to be analyzed can be significantly reduced without loss of important information.
Fuzzy systems have demonstrated their ability to solve different kinds of problems in various application domains. Currently, there is an increasing interest to augment fuzzy systems with learning and adaptation capab...
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Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still...
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Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still designed for just one specific task. In this paper, we propose a hierarchical behavior-based system that can perform several vision-based manipulation tasks by using different combinations of the same set of basic behaviors. Behaviors can run concurrently, and they are arbitrated through "if-then" rules. We show experiments involving object tracking, grasping and placing, both with static and moving objects.
A fuzzy IF-THEN rule-based method for determining the edgeness of pixels in grayscale images is presented. It is based on the evaluation of template homogeneities and the estimation of the gradient in a local neighbor...
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A fuzzy IF-THEN rule-based method for determining the edgeness of pixels in grayscale images is presented. It is based on the evaluation of template homogeneities and the estimation of the gradient in a local neighborhood. By taking the spatial distribution of the pixels into account, the influence of the image noise is reduced, as shown in a couple of experiments. The complexity of the operations involved is kept simple and the regularity is high, in order to facilitate a hardware implementation of the algorithm.
The paper presents a relatively new human-computer interaction paradigm, where a human operator's perceptual actions are mimicked by the computer. In this sensor controlled system concept, we estimate a specific f...
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The paper presents a relatively new human-computer interaction paradigm, where a human operator's perceptual actions are mimicked by the computer. In this sensor controlled system concept, we estimate a specific feature characterizing, for example, product quality, and apply intelligent analysis and an optimization to assess product quality as acquired by a human expert. The human operator contributes his/her intelligence to this man-machine interaction through learning the measurement system. An illustrative example shows how the human operator's knowledge and experience are learned by a sensor based system within a complex dough mixing optimization process in an industrial bread baking plant. The resulting sensor system acts as an intelligent feature estimator in a complex industrial process for monitoring the dynamical behavior there. The system allows easy sensor observation and makes decisions based on learning interaction with a human.
This paper addresses the problem of identifying persons with a mobile robot. In the proposed system, people are first detected and then tracked with the robot's laser range-finder sensor, using an independent Kalm...
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This paper addresses the problem of identifying persons with a mobile robot. In the proposed system, people are first detected and then tracked with the robot's laser range-finder sensor, using an independent Kalman filter for each person. After segmentation, the rectangular region of the image containing the person is divided into regions corresponding to the person's head, torso and legs. Colour features are extracted from each region for input to a pattern recognition system. Five alternative classification methods were investigated, including experiments on a real robot and with a static camera system. The best identification performance was obtained with an ensemble of self-organizing maps (ESOM), where one self-organizing map is trained for each person in the robot's database. We also discuss how to incorporate the new method into a complete application of a robotic security guard.
We introduce a new approach for image noise cancellation based on fuzzy similarity. The proposed method allows for simple tuning of fuzzy filter properties and is very convenient for high-speed real-time processing. A...
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Color segmentation is crucial in robotic applications, such as RoboCup, where the relevant objects can be distinguished by their color. In these applications, real-time performance and robustness are primary concerns....
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