View All Items
(1 - 20 of 46)
Pages
- Title
- A MOBILE ROBOTIC COMPUTING PLATFORM FOR THREE-DIMENSIONAL INDOOR MAPPING AND DATABASE BUILDING.
- Creator
-
McCoig, Kenneth, Schiavone, Guy, University of Central Florida
- Abstract / Description
-
There are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic...
Show moreThere are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic computing platform with laser scanner, for quickly mapping with high resolution, urban and/or indoor environments using a gyro-enhanced orientation sensor and selectable levels of detail. In addition, a low cost alternative solution to three-dimensional laser scanning is presented, via a standard two-dimensional SICK proximity laser scanner mounted to a custom servo motor mount and controlled by external microcontroller. A software system to control the robot is presented, which incorporates and adheres to widely accepted software engineering guidelines and principles. An analysis of the overall system, including robot specifications, system capabilities, and justification for certain design decisions, are described in detail. Results of various open source software algorithms, as it applies to scan data and image data, are also compared; including evaluation of data correlation and registration techniques. In addition, laser scanner mapping tests, specifications, and capabilities are presented and analyzed. A sample design for converting the final scanned point cloud data to a database is presented and assessed. The results suggest the overall project yields a relatively high degree of accuracy and lower cost over most other existing systems surveyed, as well as, the potential for application of the system in other fields. The results also discuss thoughts for possible future research work.
Show less - Date Issued
- 2004
- Identifier
- CFE0000313, ucf:46317
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000313
- Title
- AUTONOMOUS ENVIRONMENTAL MAPPING IN MULTI-AGENT UAV SYSTEMS.
- Creator
-
Luotsinen, Linus Jan, Boloni, Ladislau L., University of Central Florida
- Abstract / Description
-
UAV units are by many researchers and aviation specialists considered the future and cutting edge of modern flight technology. This thesis discusses methods for efficient autonomous environmental mapping in a multi-agent domain. An algorithm that emphasizes on team work by sharing the agents local map information and exploration intentions is presented as a solution to the mapping problem. General theories on how to model and implement rational autonomous behaviour for UAV agents are...
Show moreUAV units are by many researchers and aviation specialists considered the future and cutting edge of modern flight technology. This thesis discusses methods for efficient autonomous environmental mapping in a multi-agent domain. An algorithm that emphasizes on team work by sharing the agents local map information and exploration intentions is presented as a solution to the mapping problem. General theories on how to model and implement rational autonomous behaviour for UAV agents are presented. Three different human and tactical behaviour modeling techniques are evaluated. The author found the CxBR paradigm to be the most interesting approach. Also, in order to test and quantify the theories presented in this thesis a simulation environment was developed. This simulation software allows for UAV agents to operate in a visual 3-D environment with mountains, other various terrain types, danger points and enemies to model unexpected events.
Show less - Date Issued
- 2004
- Identifier
- CFE0000051, ucf:46111
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000051
- Title
- TRULY ACCOMPLISHED: EXPLORATORY STUDY OF SUCCESS MAP DEVELOPMENT.
- Creator
-
Chaffee, Dorey, Fritzsche, Barbara, University of Central Florida
- Abstract / Description
-
The current study examined Truly Accomplished (TA), an intervention designed to help individuals develop personalized systems to measure and improve behavior by utilizing well-established principles and research on motivation, participation and feedback. This study focused on participation during Success Map development (an integral step in the TA process) and the impact of using experts to develop Success Maps in the TA system. Using the context of fitness, 40 female participants were...
Show moreThe current study examined Truly Accomplished (TA), an intervention designed to help individuals develop personalized systems to measure and improve behavior by utilizing well-established principles and research on motivation, participation and feedback. This study focused on participation during Success Map development (an integral step in the TA process) and the impact of using experts to develop Success Maps in the TA system. Using the context of fitness, 40 female participants were randomly assigned to either complete the regular TA process, developing their own Success Maps, or the modified TA process, using expert-developed Success Maps. A repeated-measures design with one between-subjects independent variable was used to measure overall effectiveness scores, changes in fitness performance (plank, wall-sit, push-ups, curl-ups) and body composition (BMI, percent body fat), attitudes of system development, satisfaction with TA and satisfaction with life. Additionally, the similarities between expert and self-developed Success Maps were compared. Across all participants, large gains in effectiveness were found, including significant increases in all measurers of fitness performance; however, attitudes were poorer when Success Maps were developed by experts. Moreover, there were differences between expert and self-developed Success Maps. Results support TA as an effective intervention for positive behavior change. The practical and theoretical implications of the differences found between conditions are discussed.
Show less - Date Issued
- 2013
- Identifier
- CFH0004485, ucf:45064
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFH0004485
- Title
- QUANTITATIVE THICKNESS MAPPING IN HIGH-ANGLE ANNULAR DARK-FIELD (HAADF) SCANNING TRANSMISSION ELECTRON MICROSCOPY (STEM).
- Creator
-
Nukala, Haritha, Heinrich, Helge, University of Central Florida
- Abstract / Description
-
Only a few methods are currently available for the measurement of sample thicknesses in Transmission Electron Microscopy (TEM). These methods, Convergent-Beam Electron Diffraction (CBED) and thickness mapping in Energy-Filtered TEM (EFTEM), are either elaborate or complex. In this present work, I have investigated and come up with a simple straight-forward method to measure the local thickness of a TEM sample with the atomic number (Z-contrast) imaging using High-Angle Annular Dark Field ...
Show moreOnly a few methods are currently available for the measurement of sample thicknesses in Transmission Electron Microscopy (TEM). These methods, Convergent-Beam Electron Diffraction (CBED) and thickness mapping in Energy-Filtered TEM (EFTEM), are either elaborate or complex. In this present work, I have investigated and come up with a simple straight-forward method to measure the local thickness of a TEM sample with the atomic number (Z-contrast) imaging using High-Angle Annular Dark Field (HAADF) Scanning Transmission Electron Microscopy (STEM). HAADF STEM shows atomic number contrast for high scattering angles of the electrons, owing to predominant electron scattering at the potential of the nucleus similar to Rutherford scattering. The characterization of materials by STEM helps to identify microstructures and nanostructures within a sample and to analyze defects in samples. HAADF STEM imaging is capable of resolving atomic structures with better than 2 Å lateral resolution. However, HAADF STEM has so far not been systematically used to measure sample thicknesses. In Z-contrast imaging, it was known that the intensity of the electrons scattered to high angles increases with increase in the atomic number (Z) of the element/compound with increasing thickness of the sample based on the equation, I ~ t.Zα Where t, is the thickness and α, is a parameter between 1 and 2. This project was started with this simple approach, but the experimental results within the thesis show that the relation between the intensity and the atomic number is not well described by this equation. A more reliable parameter, σZ, the interaction coefficient of the material was calculated. Samples containing Ag2Al platelets in Al matrix were used for calibration purposes. Additional samples containing layers of known elements/compounds were obtained from TriQuint Semiconductors and from the Physics department of UCF to calculate σ for various elements/compounds. These experimental values were used to measure the local thicknesses in nanoparticles and also the total volume of the nanoparticles. This quantitative HAADF STEM analysis represents a new method, which can be added to the list of methods used for the purpose of measurement of the local thickness of a sample in the TEM. This method is especially useful for the thickness measurement of nanoparticles. The other two methods, CBED and thickness maps in EFTEM are strongly affected by the sample orientation and therefore not appropriate for the study of nanoparticle thicknesses, whereas orientation effects are negligible for the conditions used in this HAADF STEM analysis.
Show less - Date Issued
- 2008
- Identifier
- CFE0002309, ucf:47859
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0002309
- Title
- Spectrum Map and its Application in Cognitive Radio Networks.
- Creator
-
Debroy, Saptarshi, Chatterjee, Mainak, Bassiouni, Mostafa, Zou, Changchun, Jha, Sumit, Catbas, Necati, University of Central Florida
- Abstract / Description
-
Recent measurements on radio spectrum usage have revealed the abundance of underutilizedbands of spectrum that belong to licensed users. This necessitated the paradigm shift from static to dynamic spectrum access. Cognitive radio based secondary networks thatutilize such unused spectrum holes in the licensed band, have been proposed as a possible solution to the spectrum crisis. The idea is to detect times when a particular licensed band is unused and use it for transmission without causing...
Show moreRecent measurements on radio spectrum usage have revealed the abundance of underutilizedbands of spectrum that belong to licensed users. This necessitated the paradigm shift from static to dynamic spectrum access. Cognitive radio based secondary networks thatutilize such unused spectrum holes in the licensed band, have been proposed as a possible solution to the spectrum crisis. The idea is to detect times when a particular licensed band is unused and use it for transmission without causing interference to the licensed user. We argue that prior knowledge about occupancy of such bands and the corresponding achievable performance metrics can potentially help secondary networks to devise effective strategiesto improve utilization.In this work, we use Shepard's method of interpolation to create a spectrum mapthat provides a spatial distribution of spectrum usage over a region of interest. It is achieved by intelligently fusing the spectrum usage reports shared by the secondary nodes at various locations. The obtained spectrum map is a continuous and differentiable 2-dimension distribution function in space. With the spectrum usage distribution known, we show how different radio spectrum and network performance metrics like channel capacity, secondary network throughput, spectral efficiency, and bit error rate can be estimated. We show the applicability of the spectrum map in solving the intra-cell channel allocation problem incentralized cognitive radio networks, such as IEEE 802.22. We propose a channel allocationscheme where the base station allocates interference free channels to the consumer premise equipments (CPE) using the spectrum map that it creates by fusing the spectrum usage information shared by some CPEs. The most suitable CPEs for information sharing arechosen on a dynamic basis using an iterative clustering algorithm. Next, we present a contention based media access control (MAC) protocol for distributed cognitive radio network. The unlicensed secondary users contend among themselves over a common control channel. Winners of the contention get to access the available channels ensuring high utilization and minimum collision with primary incumbent. Last, we propose a multi-channel, multi-hop routing protocol with secondary transmission power control. The spectrum map, created and maintained by a set of sensors, acts as the basis of finding the best route for every source destination pair. The proposed routing protocol ensures primary receiver protection and maximizes achievable link capacity.Through simulation experiments we show the correctness of the prediction model and how it can be used by secondary networks for strategic positioning of secondary transmitter-receiver pairs and selecting the best candidate channels. The simulation model mimics realistic distribution of TV stations for urban and non-urban areas. Results validate the nature and accuracy of estimation, prediction of performance metrics, and efficiency of the allocation process in an IEEE 802.22 network. Results for the proposed MAC protocol show high channel utilization with primary quality of service degradation within a tolerable limit. Performance evaluation of the proposed routing scheme reveals that it ensures primary receiver protection through secondary power control and maximizes route capacity.
Show less - Date Issued
- 2014
- Identifier
- CFE0005324, ucf:50515
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0005324
- Title
- CELLULAR IMMUNE RESPONSE AND GENE EXPRESSION PROFILING IN CROHN'S DISEASE PATIENTS ASSOCIATED WITH MYCOBACTERIUM AVIUM SUBSPECIES PARATUBERCULOSIS.
- Creator
-
Romero, Claudia, Naser, Saleh A., University of Central Florida
- Abstract / Description
-
Despite the chronic debate in the etiology of crohn's disease (cd), a debilitating inflammatory bowel disease (ibd) closely related to ulcerative colitis (uc), an emerging interest in a possible mycobacterial role has been marked. Granuloma and pathologic manifestations in cd resemble aspects found in tuberculosis, leprosy and paratuberculosis. The latter, a chronic enteritis in cattle, goat, sheep and primates, which is similar to human enteritis, also known as cd, is caused by a fastidious,...
Show moreDespite the chronic debate in the etiology of crohn's disease (cd), a debilitating inflammatory bowel disease (ibd) closely related to ulcerative colitis (uc), an emerging interest in a possible mycobacterial role has been marked. Granuloma and pathologic manifestations in cd resemble aspects found in tuberculosis, leprosy and paratuberculosis. The latter, a chronic enteritis in cattle, goat, sheep and primates, which is similar to human enteritis, also known as cd, is caused by a fastidious, slow growing mycobacterium avium subspecies paratuberculosis (map). Due to the similarities between cd and paratuberculosis, a mycobacterial cause in cd has been proposed. Recent discovery of a possible association between nod2/card15 mutations and risk of cd added support to microorganism-host interactions. In this study, a possible mycobacterial role in cd etiology has been evaluated by investigating the presence of map dna, the state of the cellular immune response and microarray gene expression profiling in peripheral blood and surgical tissue from cd, uc and healthy control subjects. Nested pcr detected map dna in tissue from 10/12(83%) cd patients compared to 1/6(17%) non-ibd subjects. Fluorescence in situ hybridization (fish) with the aid of confocal scanning laser microscopy (cslm) detected map dna in 8/12(67%) cd subjects compared to 0/6(0%) in non-ibd subjects. The detection of map dna by either technique in tissue from cd subjects is significant compared to non-ibd subjects (p < 0.05). Map dna was also detected in both inflamed and non-inflamed tissue from patients with cd suggesting map infiltration in human tissue. Correlation of possible map presence and the function of polymorphonuclear leukocytes (pmn) and peripheral blood mononuclear cells (pbmc) in 19 cd patients and 12 controls have been evaluated. Pmn phagocytosis of viable fitc-map was suppressed in 13/19(68%) cd patients compared to 0/12(0%) in healthy controls (p<0.05). Pbmc phagocytosis of viable fitc-map was suppressed in 5/19(26%) of cd patients compared to 0/12(0%) of healthy controls (p<0.05). The proliferative response of pbmc with t-cell majority from cd and controls subjects was evaluated against pha, candida albicans, pwm and map ppd. Dysfunctional proliferative response against pha was found in 8/19(42%) cd patients compared to 1/12(8.3%) in controls suggesting possible t-cell anergy. Pbmc from 11 cd subjects reacted normally to pha, 7/11(64%) reacted strongly to map ppd suggesting previous exposure to mycobacteria, and 3/11(27%) did not react with map ppd suggesting lack of pre-exposure to mycobacteria. From the seven mycobacterial pre-exposed samples, 6/7(86%) showed a normal ability to recall antigens by activated macrophages when exposed to c. Albicans, and all 7 samples had a normal pwm response. Finally, microarray-chip technology was employed to identify the expression profile of genes that have a role in the immune response of cd patients. Rna was isolated from fresh buffy coats from 8 healthy controls, 2 cd, and 1 uc patients. Chips with an estimated of 30,000 human genes were hybridized to cdna from these samples. We found that 17% of the total number of genes was differentially expressed. Over 200 genes were involved in the immune response, 7 genes where common to both forms of ibd (uc and cd), and 8 genes were found to be either downregulated in cd and upregulated in uc or viceversa. The ifngr1 gene, which encodes the ligand-binding chain of the ifn-gamma receptor, was found to be downregulated in 2/2(100%) of cd patients, but not in uc patients. It is known that defects in ifngr1 are a cause of atypical mycobacterial infection and bcg infection. Patients suffering from this deficiency have an immunologic defect predisposing them to infection with mycobacteria. This correlates with the proposed theory as map being the causative agent of cd. Furthermore, the results indicate a host susceptibility requirement for the establishment of mycobacterial infection in cd patients. Further characterization of ifngr1 using real-time pcr is underway. Collectively, detection of map dna in the majority of cd tissue and the alteration in pmn and pbmc to respond efficiently to map may be related to the fact that mycobacterial pathogens infect phagocytic cells of susceptible hosts and consequently the immune response is dysregulated. Furthermore, the fact that a gene linked to mycobacterial susceptibility was found to be downregulated in cd patients only, strengthens the mycobacterial etiology of cd. In general, the data suggest a possible role for a bacterial pathogen in cd pathogenesis.
Show less - Date Issued
- 2004
- Identifier
- CFE0000170, ucf:46170
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000170
- Title
- IMPROVING METACOMPREHENSION AND LEARNING THROUGH GRADUATED CONCEPT MODEL DEVELOPMENT.
- Creator
-
Kring, Eleni, Salas, Eduardo, University of Central Florida
- Abstract / Description
-
Mental model development, deeper levels of information processing, and elaboration are critical to learning. More so, individuals' metacomprehension accuracy is integral to making improvements to their knowledge base. In other words, without an accurate perception of their knowledge on a topic, learners may not know that knowledge gaps or misperceptions exist and, thus, would be less likely to correct them. Therefore, this study offered a dual-process approach that aimed at enhancing...
Show moreMental model development, deeper levels of information processing, and elaboration are critical to learning. More so, individuals' metacomprehension accuracy is integral to making improvements to their knowledge base. In other words, without an accurate perception of their knowledge on a topic, learners may not know that knowledge gaps or misperceptions exist and, thus, would be less likely to correct them. Therefore, this study offered a dual-process approach that aimed at enhancing metacomprehension. One path aimed at advancing knowledge structure development and, thus, mental model development. The other focused on promoting a deeper level of information processing through processes like elaboration. It was predicted that this iterative approach would culminate in improved metacomprehension and increased learning. Accordingly, using the Graduated Concept Model Development (GCMD) approach, the role of learner-generated concept model development in facilitating metacomprehension and knowledge acquisition was examined. Concept maps have had many roles in the learning process as mental model assessment tools and advanced organizers. However, this study examined the process of concept model building as an effective training tool. Whereas, concept maps functioning as advanced organizers are certainly beneficial, it would seem that the benefits of having a learner examine and amend the current state of their knowledge through concept model development would prove more effective for learning. In other words, learners looking at an advanced organizer of the training material may feel assured that they have a thorough understanding of it. Only when they are forced to create a representation of the material would the gaps and misperceptions in their knowledge base likely be revealed. In short, advanced organizers seem to rely on recognition, where concept model development likely requires recalling and understanding 'how' and 'why' the interrelationships between concepts exist. Therefore, the Graduated Concept Model Development (GCMD) technique offered in this study was based on the theory that knowledge acquisition improves when learners integrate new information into existing knowledge, assign elaborated meanings to concepts, correct misperceptions, close knowledge gaps, and strengthen accurate connections between concepts by posing targeted questions against their existing knowledge structures. This study placed an emphasis on meaningful learning and suggested a process by which newly introduced concepts would be manipulated for the purpose of improving metacomprehension by strengthening accurate knowledge structures and mental model development, and through deeper and elaborated information processing. Indeed, central to improving knowledge deficiencies and misunderstandings is metacomprehension, and the constructing of concepts maps was hypothesized to improve metacomprehension accuracy and, thus, learning. This study was a one-factor between-groups design with concept map type as the independent variable, manipulated at four levels: no concept map, concept map as advanced organizer, learner-built concept map with feedback, and learner-built concept map without feedback. The dependent variables included performance (percent correct) on a declarative and integrative knowledge assessment, mental model development, and metacomprehension accuracy. Participants were 68 (34 female, 34 male, ages 18-35, mean age = 21.43) undergraduate students from a major southeastern university. Participants were randomly assigned to one of the four experimental conditions, and analysis revealed no significant differences between the groups. Upon arrival, participants were randomly assigned to one of the four experimental conditions. Participants then progressed through the three stages of the experiment. In Stage I, participants completed forms regarding informed consent, general biographical information, and task self-efficacy. In Stage II, participants completed the self-paced tutorial based on the Distributed Dynamic Decision Making (DDD) model, a simulated military command and control environment aimed at creating events to encourage team coordination and performance (for a detailed description, see Kleinman & Serfaty, 1989). The manner by which participants worked through the tutorial was determined by their assigned concept map condition. Upon finishing each module of the tutorial, participants then completed a metacomprehension prediction question. In Stage III, participants completed the computer-based knowledge assessment test, covering both declarative and integrative knowledge, followed by the metacomprehension postdiction question. Participants then completed the card sort task, as the assessment of mental model development. Finally, participants completed a general study survey and were debriefed as to the purpose of the study. The entire experiment lasted approximately 2 to 3 hours. Results indicated that the GCMD condition showed a stronger indication of metacomprehension accuracy, via prediction measures, compared with the other three conditions (control, advanced organizer, and feedback), and, specifically, significantly higher correlations than the other three conditions in declarative knowledge. Self-efficacy measures also indicated that the higher metacomprehension accuracy correlation observed in the GCMD condition was likely the result of the intervention, and not due to differences in self-efficacy in that group of participants. Likewise, the feedback and GCMD conditions led to significantly high correlations for metacomprehension accuracy based on levels of understanding on the declarative knowledge tutorial module (Module 1). The feedback condition also showed similar responses for the integrative knowledge module (Module 2). The advanced organizer, feedback, and GCMD conditions were also found to have significantly high correlation of self-reported postdiction of performance on the knowledge assessment and the actual results of the knowledge assessment results. However, results also indicated that there were no significant findings between the four conditions in mental model assessment and knowledge assessment. Nevertheless, results support the relevance of accurate mental model development in knowledge assessment outcomes. Retrospectively, two opposing factors may have complicated efforts to detect additional differences between groups. From one side, the experimental measures may not have been rigorous enough to filter out the effect from the intervention itself. Conversely, software usability issues and the resulting limitations in experimental design may have worked negatively against the two concept mapping conditions and, inadvertently, suppressed effects of the intervention. Future research in the GCMD approach will likely review cognitive workload, concept mapping software design, and the sensitivity of the measures involved.
Show less - Date Issued
- 2004
- Identifier
- CFE0000312, ucf:46311
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000312
- Title
- OPTIMIZING THE HIGH DYNAMIC RANGE IMAGING PIPELINE.
- Creator
-
Akyuz, Ahmet, Reinhard, Erik, University of Central Florida
- Abstract / Description
-
High dynamic range (HDR) imaging is a rapidly growing field in computer graphics and image processing. It allows capture, storage, processing, and display of photographic information within a scene-referred framework. The HDR imaging pipeline consists of the major steps an HDR image is expected to go through from capture to display. It involves various techniques to create HDR images, pixel encodings and file formats for storage, tone mapping for display on conventional display devices and...
Show moreHigh dynamic range (HDR) imaging is a rapidly growing field in computer graphics and image processing. It allows capture, storage, processing, and display of photographic information within a scene-referred framework. The HDR imaging pipeline consists of the major steps an HDR image is expected to go through from capture to display. It involves various techniques to create HDR images, pixel encodings and file formats for storage, tone mapping for display on conventional display devices and direct display on HDR capable screens. Each of these stages have important open problems, which need to be addressed for a smoother transition to an HDR imaging pipeline. We addressed some of these important problems such as noise reduction in HDR imagery, preservation of color appearance, validation of tone mapping operators, and image display on HDR monitors. The aim of this thesis is thus, to present our findings and describe the research we have conducted within the framework of optimizing the HDR imaging pipeline.
Show less - Date Issued
- 2007
- Identifier
- CFE0001875, ucf:47404
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0001875
- Title
- TECHNIQUES FOR ASSESSING AND IMPROVING PERFORMANCE IN NAVIGATION AND WAYFINDING USING MOBILE AUGMENTED REALITY.
- Creator
-
Goldiez, Brian, Hancock, Peter, University of Central Florida
- Abstract / Description
-
Augmented reality is a field of technology in which the real world is overlaid with additional information from a computer generated display. Enhancements to augmented reality technology presently support limited mobility which is expected to increase in the future to provide much greater real world functionality. This work reports on a set of experiments that investigate performance in search and rescue navigating tasks using augmented reality. Augmentation consisted of a spatially and...
Show moreAugmented reality is a field of technology in which the real world is overlaid with additional information from a computer generated display. Enhancements to augmented reality technology presently support limited mobility which is expected to increase in the future to provide much greater real world functionality. This work reports on a set of experiments that investigate performance in search and rescue navigating tasks using augmented reality. Augmentation consisted of a spatially and temporally registered map of a maze that was overlaid onto a real world maze. Participants were required to traverse the maze, answer spatially oriented questions in the maze, acquire a target object, and exit. Pre and post hoc questionnaires were administered. Time and accuracy data from one hundred twenty participants were collected across six treatments. The between subject treatments, which had an equal number of male and female participants, were a control condition with only a compass, a control condition with a paper map available prior to maze traversal and four experimental conditions consisting of combinations of egocentric and exocentric maps, and a continuously on and on demand map display. Data collected from each participant consisted of time to traverse the maze, percent of the maze covered, estimations of euclidian distance and direction, estimations of cardinal direction, and spatial recall. Data was also collected via pre and post hoc questionnaires. Results indicate that best performance with respect to time was in the control condition with a map. The small size of the maze could have facilitated this result through route memorization. Augmented reality can offer enhancement to performance as navigational tasks become more complex and saturate working memory. Augmented reality showed best performance in accuracy by facilitating participants' coverage of the maze. Exocentric maps generally exhibited better performance than egocentric maps. On demand displays also generally resulted in better performance than continuously on displays. Gender differences also were evident with males exhibiting better performance than females. Participants reporting an initial tendency to not rotate maps exhibited better performance than those reporting a tendency to rotate maps. Enhancements being made to augmented reality and related technologies will result in more features, improved form factor for users, and improved performance in the future. Guidelines provided in this work seek to ensure augmented reality systems continue to progress in enhancing performance
Show less - Date Issued
- 2004
- Identifier
- CFE0000177, ucf:46157
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000177
- Title
- THE EXPLORATION OF ROTATING DETONATION DYNAMICS INCORPORATING A COAL-BASED FUEL MIXTURE.
- Creator
-
Rogan, John P., Ahmed, Kareem, Bhattacharya, Samik, University of Central Florida
- Abstract / Description
-
This investigation explores the detonation dynamics of a rotating detonation engine (RDE). Beginning with the general understanding and characteristics of hydrogen and compressed air as a detonation fuel source, this study further develops the experimental approach to incorporating a coal-based fuel mixture in an RDE. There is insufficient prior research investigating the use of coal as part of a fuel mixture and insignificant progress being made to improve thermal efficiency with...
Show moreThis investigation explores the detonation dynamics of a rotating detonation engine (RDE). Beginning with the general understanding and characteristics of hydrogen and compressed air as a detonation fuel source, this study further develops the experimental approach to incorporating a coal-based fuel mixture in an RDE. There is insufficient prior research investigating the use of coal as part of a fuel mixture and insignificant progress being made to improve thermal efficiency with deflagration. The U.S. Department of Energy's Office of Fossil Energy awarded the Propulsion and Energy Research Laboratory at the University of Central Florida a grant to lead the investigation on the feasibility of using a coal-based fuel mixture to power rotating detonation engines. Through this study, the developmental and experimental understanding of RDEs has been documented, operability maps have been plotted, and the use of a coal-based fuel mixture in an RDE has been explored. The operability of hydrogen and compressed air has been found, a normalization of all operable space has been developed, and there is evidence indicating coal can be used as part of a fuel mixture to detonate an RDE. The study will continue to investigate coal's use in an RDE. As the most abundant fossil fuel on earth, coal is a popular fuel source in deflagrative combustion for electrical power generation. This study investigates how the combustion of coal can become significantly more efficient.
Show less - Date Issued
- 2018
- Identifier
- CFH2000437, ucf:45741
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFH2000437
- Title
- GENETIC INTERVENTION AS A LIFESTYLE APPROACH: AN ANALYSIS OF DISEASE AND TREATMENT.
- Creator
-
Dempton, Jennifer, D'Amato-Kubiet, Leslee, University of Central Florida
- Abstract / Description
-
Purpose: The scientific knowledge of how genes affect disease expression and evolution can facilitate more effective environmental and drug therapy interventions delivered by health care professionals. The purpose of this paper is to a) describe the role of genetic science in healthcare; b) explore genotype determinants for environmental and pharmacological interventions; c) and analyze ethical dilemmas, barriers to access, and allocation of resources based on genotype. Methods: A review of...
Show morePurpose: The scientific knowledge of how genes affect disease expression and evolution can facilitate more effective environmental and drug therapy interventions delivered by health care professionals. The purpose of this paper is to a) describe the role of genetic science in healthcare; b) explore genotype determinants for environmental and pharmacological interventions; c) and analyze ethical dilemmas, barriers to access, and allocation of resources based on genotype. Methods: A review of literature was conducted from the disciplines of nursing, medicine, psychology, and sociology using the CINAHL, Ebsco Host, Medline, and PsychINFO databases. The search was limited to peer reviewed, full text article in English that dated from 1987 to 2011. Inclusion criteria were articles describing environmental, pharmacologic, and nutritional influence on genetic expression. Forty-five articles on genetic intervention were chosen for further review, in addition to five book publications which met inclusion criteria. Many of the sources retrieved were obtained from the biomedical sciences and published in the last decade, owing to more recent innovations in genetic discovery. Results: Disease and treatment must be approached according to genetic profiles for effectiveness and to increase health outcomes. Several variations were found regarding response to pharmaceuticals, as well as environmental exposures, based on genotype. Conclusions: Health care has been practiced using a 'universal protocol' approach; however, as the literature reveals, each individual genotype must be taken into account to provide optimal care.
Show less - Date Issued
- 2011
- Identifier
- CFH0004060, ucf:44792
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFH0004060
- Title
- VARIABLE RESOLUTION & DIMENSIONAL MAPPING FOR 3D MODEL OPTIMIZATION.
- Creator
-
Venezia, Joseph, Kasparis, Takis, University of Central Florida
- Abstract / Description
-
Three-dimensional computer models, especially geospatial architectural data sets, can be visualized in the same way humans experience the world, providing a realistic, interactive experience. Scene familiarization, architectural analysis, scientific visualization, and many other applications would benefit from finely detailed, high resolution, 3D models. Automated methods to construct these 3D models traditionally has produced data sets that are often low fidelity or inaccurate; otherwise,...
Show moreThree-dimensional computer models, especially geospatial architectural data sets, can be visualized in the same way humans experience the world, providing a realistic, interactive experience. Scene familiarization, architectural analysis, scientific visualization, and many other applications would benefit from finely detailed, high resolution, 3D models. Automated methods to construct these 3D models traditionally has produced data sets that are often low fidelity or inaccurate; otherwise, they are initially highly detailed, but are very labor and time intensive to construct. Such data sets are often not practical for common real-time usage and are not easily updated. This thesis proposes Variable Resolution & Dimensional Mapping (VRDM), a methodology that has been developed to address some of the limitations of existing approaches to model construction from images. Key components of VRDM are texture palettes, which enable variable and ultra-high resolution images to be easily composited; texture features, which allow image features to integrated as image or geometry, and have the ability to modify the geometric model structure to add detail. These components support a primary VRDM objective of facilitating model refinement with additional data. This can be done until the desired fidelity is achieved as practical limits of infinite detail are approached. Texture Levels, the third component, enable real-time interaction with a very detailed model, along with the flexibility of having alternate pixel data for a given area of the model and this is achieved through extra dimensions. Together these techniques have been used to construct models that can contain GBs of imagery data.
Show less - Date Issued
- 2009
- Identifier
- CFE0002837, ucf:48081
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0002837
- Title
- LATTICE-VALUED CONVERGENCE: QUOTIENT MAPS.
- Creator
-
Boustique, Hatim, Richardson, Gary, University of Central Florida
- Abstract / Description
-
The introduction of fuzzy sets by Zadeh has created new research directions in many fields of mathematics. Fuzzy set theory was originally restricted to the lattice , but the thrust of more recent research has pertained to general lattices. The present work is primarily focused on the theory of lattice-valued convergence spaces; the category of lattice-valued convergence spaces has been shown to possess the following desirable categorical properties: topological, cartesian-closed, and...
Show moreThe introduction of fuzzy sets by Zadeh has created new research directions in many fields of mathematics. Fuzzy set theory was originally restricted to the lattice , but the thrust of more recent research has pertained to general lattices. The present work is primarily focused on the theory of lattice-valued convergence spaces; the category of lattice-valued convergence spaces has been shown to possess the following desirable categorical properties: topological, cartesian-closed, and extensional. Properties of quotient maps between objects in this category are investigated in this work; in particular, one of our principal results shows that quotient maps are productive under arbitrary products. A category of lattice-valued interior operators is defined and studied as well. Axioms are given in order for this category to be isomorphic to the category whose objects consist of all the stratified, lattice-valued, pretopological convergence spaces. Adding a lattice-valued convergence structure to a group leads to the creation of a new category whose objects are called lattice-valued convergence groups, and whose morphisms are all the continuous homomorphisms between objects. The latter category is studied and results related to separation properties are obtained. For the special lattice , continuous actions of a convergence semigroup on convergence spaces are investigated; in particular, invariance properties of actions as well as properties of a generalized quotient space are presented.
Show less - Date Issued
- 2008
- Identifier
- CFE0002369, ucf:47811
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0002369
- Title
- Acoustic Ecology and Sound Mapping the University of Central Florida Main Campus.
- Creator
-
Clarke, Robert, Beever, Jonathan, French, Scot, Janz, Bruce, Pijanowski, Bryan, University of Central Florida
- Abstract / Description
-
(")Acoustic Ecology and Sound Mapping the University of Central Florida Main Campus(") explores the intersection of place and space, sound studies and acoustic ecology, visualization, and archives. The end result consists of a collection of (")soundwalk(") and stationary recordings conducted from 2016-2019 at the University of Central Florida (UCF) main campus in Orlando presented as an online Sound Map. This archive previously did not exist and provides a snapshot of the various sounds heard...
Show more(")Acoustic Ecology and Sound Mapping the University of Central Florida Main Campus(") explores the intersection of place and space, sound studies and acoustic ecology, visualization, and archives. The end result consists of a collection of (")soundwalk(") and stationary recordings conducted from 2016-2019 at the University of Central Florida (UCF) main campus in Orlando presented as an online Sound Map. This archive previously did not exist and provides a snapshot of the various sounds heard throughout the campus as well as a starting point and context for future research into this still-emerging field of acoustic ecology and sound studies. While the individual recordings help to provide a sense of place at the university, they also represent a benchmark from a public history standpoint to interpret sonic change over time.
Show less - Date Issued
- 2019
- Identifier
- CFE0007793, ucf:52344
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007793
- Title
- THE INFLUENCE OF GRAPHIC ORGANIZERS ON STUDENTS' ABILITY TO SUMMARIZE AND COMPREHEND SCIENCE CONTENT REGARDING THE EARTH'S CHANGING SURFACE.
- Creator
-
Goss, Patricia, Ortiz, Enrique, University of Central Florida
- Abstract / Description
-
The purpose of this action research project was to determine how my practice of using graphic organizers during instruction influenced my students' ability to summarize and comprehend significant fifth grade Earth Science content regarding the Earth's changing surface. A secondary purpose was to determine the students' perceptions of how concept mapping assisted in making connections to understand the fifth grade Earth Science content regarding the Earth's changing surface....
Show moreThe purpose of this action research project was to determine how my practice of using graphic organizers during instruction influenced my students' ability to summarize and comprehend significant fifth grade Earth Science content regarding the Earth's changing surface. A secondary purpose was to determine the students' perceptions of how concept mapping assisted in making connections to understand the fifth grade Earth Science content regarding the Earth's changing surface. The three processes used to collect data for this research were concept maps, focus groups and the pre- and post-test results. The themes that emerged were the ability to describe, categorize and classify details, the increased accuracy of the use of vocabulary and the memory of the concepts that students' ability to recall information and understand the Earth Science concepts as evidenced through summarization and comprehension through the pre- and post-test.
Show less - Date Issued
- 2009
- Identifier
- CFE0002595, ucf:48287
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0002595
- Title
- FINITE DEPTH SEEPAGE BELOW FLAT APRON WITH END CUTOFFS AND A DOWNSTREAM STEP.
- Creator
-
Jain, Arun, Reddi, Lakshmi, University of Central Florida
- Abstract / Description
-
Hydraulic structures with water level differences between upstream and downstream are subjected to seepage in foundation soils. Two sources of weakness are to be guarded against: (1) percolation or seepage may cause under-mining, resulting in the collapse of the whole structure, and (2) the floor of the apron may be forced upwards, owing to the upward pressure of water seeping through pervious soil under the structure. Many earlier failures of hydraulic structures have been reported due to...
Show moreHydraulic structures with water level differences between upstream and downstream are subjected to seepage in foundation soils. Two sources of weakness are to be guarded against: (1) percolation or seepage may cause under-mining, resulting in the collapse of the whole structure, and (2) the floor of the apron may be forced upwards, owing to the upward pressure of water seeping through pervious soil under the structure. Many earlier failures of hydraulic structures have been reported due to these two reasons. The curves and charts prepared by Khosla, Bose, and Taylor still form the basis for the determination of uplift pressure and exit gradient for weir apron founded on pervious soil of infinite depth. However, in actual practice, the pervious medium may be of finite depth owing to the occurrence of a clay seam or hard strata at shallow depths in the river basin. Also, a general case of weir profile may consist of cutoffs, at the two ends of the weir apron. In addition to the cutoffs, pervious aprons are also provided at the downstream end in the form of (i) inverted filter, and (ii) launching apron. These pervious aprons may have a thickness of 2 ft. to 5 ft. In order to accommodate this thickness, the bed adjacent to the downstream side of downstream cutoff has to be excavated. This gives rise to the formation of step at the downstream end. Closed form theoretical solutions for the case of finite depth seepage below weir aprons with end cutoffs, with a step at the downstream side are obtained in this research. The parameters studied are : (i) finite depth of pervious medium, (ii) two cut offs at the ends, and (iii) a step at the downstream end. The resulting implicit equations, containing elliptic integrals of first and third kind, have been used to obtain various seepage characteristics. The results have been compared with existing solutions for some known boundary conditions. Design curves for uplift pressure at key points, exit gradient factor and seepage discharge factor have been presented in terms of non-dimensional floor profile ratios.
Show less - Date Issued
- 2011
- Identifier
- CFE0003898, ucf:48751
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0003898
- Title
- THE RELATIONSHIP BETWEEN THINKING MAPS® AND FLORIDA COMPREHENSIVE ASSESSMENT TEST® READING AND MATHEMATICS SCORES IN TWO URBAN MIDDLE SCHOOLS.
- Creator
-
Diaz, Anna, Martin, Suzanne, University of Central Florida
- Abstract / Description
-
The purpose of this study was to determine what difference, if any, exists between the implementation and use of Thinking Maps® and studentsÂÂ' academic achievement in Reading and Mathematics as measured over time by the Florida Comprehensive Assessment Test® (FCAT). Thinking Maps® is a registered trademark of Thinking Maps, Inc. The data were examined after three years of Thinking MapsÃ&...
Show moreThe purpose of this study was to determine what difference, if any, exists between the implementation and use of Thinking Maps® and studentsÂÂ' academic achievement in Reading and Mathematics as measured over time by the Florida Comprehensive Assessment Test® (FCAT). Thinking Maps® is a registered trademark of Thinking Maps, Inc. The data were examined after three years of Thinking Maps® implementation and instruction. The design of this study was quantitative, with a nonrandomized control group, pretest-posttest design (Ary, Jacobs, & Razavieh, 2002) that examined the effects on student Reading and Mathematics FCAT scores in one middle school that implemented Thinking Maps® throughout all grade levels and core subjects for three years as compared to student Reading and Mathematics FCAT scores in a second middle school that did not implement the Thinking Maps® program throughout all grade levels and core subjects for three years. MANOVA and Chi-square tests were used to examine student FCAT scores. This study focused on one major question: Do students who have been instructed in the use of Thinking Maps® have higher academic achievement as measured by the Florida Comprehensive Assessment Test® (FCAT) than those that have not been instructed in the use of Thinking Maps®? Results of this study indicated that students who have been instructed in the use of Thinking Maps® do not have higher academic achievement as measured by the Florida Comprehensive Assessment Test® (FCAT) than those who have not been instructed in the use of Thinking Maps®. The researcher concluded that other methods of evaluating the implementation of Thinking Maps® and student achievement should be explored.
Show less - Date Issued
- 2010
- Identifier
- CFE0003319, ucf:48448
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0003319
- Title
- REAL TIME REVERSE TRANSCRIPTION-POLYMERASE CHAIN REACTION FOR DIRECT DETECTION OF VIABLE MYCOBACTERIUM AVIUM SUBSPECIES PARATUBERCULOSIS IN CROHN'S DISEASE PATIENTSANDASSOCIATION OF MAP INFECTION WITH DOWNREGUALTION IN INTERFERON-GAMMA RECEPTOR (INFG1) GENE IN CROHN'S DISEASE PATIENTS.
- Creator
-
Chehtane, Mounir, Naser, Saleh, University of Central Florida
- Abstract / Description
-
Association of Mycobacterium avium subspecies paratuberculosis (MAP) with Crohn's disease (CD) and not with ulcerative colitis (UC), two forms of inflammatory bowel disease (IBD), has been vigorously debated in recent years. This theory has been strengthened by recent culture of MAP from breast milk, intestinal tissue and Blood from patients with active Crohn's disease. Culture of MAP from clinical samples remained challenging due to the fastidious nature of MAP including its lack of cell...
Show moreAssociation of Mycobacterium avium subspecies paratuberculosis (MAP) with Crohn's disease (CD) and not with ulcerative colitis (UC), two forms of inflammatory bowel disease (IBD), has been vigorously debated in recent years. This theory has been strengthened by recent culture of MAP from breast milk, intestinal tissue and Blood from patients with active Crohn's disease. Culture of MAP from clinical samples remained challenging due to the fastidious nature of MAP including its lack of cell wall in infected patients. The advent of real time PCR has proven to be significant in infectious disease diagnostics. In this study, real time reverse transcriptase PCR (RT-PCR) assay based on targeting mRNA of the IS900 gene unique to MAP has been developed. All variables included in RNA isolation, cDNA synthesis and real time PCR amplification have been optimized. Oligonucleotide primers were designed to amplify 165 bp specific to MAP and the assay demonstrated sensitivity of 4 genomes per sample. In hope this real time RT-PCR may aid in the detection of viable MAP cells in Crohn's disease patients, a total of 45 clinical samples were analyzed. Portion of each sample was also subjected to 12 weeks culture followed by standard nested PCR analysis. The samples consisted of 17 cultures (originated from 13 CD, 1 UC and 3 NIBD subjects), 24 buffy coat blood (originated from 7 CD, 2 UC, 11 NIBD and 4 healthy subjects) and 4 intestinal biopsies from 2 CD patients. Real time RT-PCR detected viable MAP in 11/17 (65%) of iii suspected cultures compared to 12/17 (70%) by nested PCR including 77% and 84% from CD samples by both methods, respectively. Real time RT-PCR detected MAP RNA directly from 3/7 (42%) CD, 2/2 (100%) UC and 0/4 healthy controls similar to results following long term culture incubation and nested PCR analysis. Interestingly, real time RT-PCR detected viable MAP in 2/11 (13%) compared to 4/11 (26%) by culture and nested PCR in NIBD patients. For tissue samples, real time RT-PCR detected viable MAP in one CD patient with the culture outcome remains pending. This study clearly indicates that a 12-hr real time RT-PCR assay provided data that are similar to those from 12 weeks culture and nested PCR analysis. Consequently, use of real time In our laboratory, we previously demonstrated a possible downregulation in the Interferon-gamma receptor gene (IFNGR1) in patients with active Crohn's disease using microarray chip analysis. In this study, measurement of RNA by real time qRT-PCR indicated a possible downregulation in 5/6 CD patients compared to 0/12 controls. The preliminary data suggest that downregulation in INFGR1 gene, and the detection of viable MAP in CD patients provides yet the strongest evidence toward the linkage between MAP and CD etiology.
Show less - Date Issued
- 2005
- Identifier
- CFE0000629, ucf:46504
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000629
- Title
- INVESTIGATING THE RELIABILITY AND VALIDITY OF KNOWLEDGE STRUCTURE EVALUATIONS: THE INFLUENCE OF RATER ERROR AND RATER LIMITATIONS.
- Creator
-
Harper-Sciarini, Michelle, Jentsch, Florian, University of Central Florida
- Abstract / Description
-
The likelihood of conducting safe operations increases when operators ave effectively integrated their knowledge of the operation into meaningful relationships, referred to as knowledge structures (KSs). Unlike knowing isolated facts about an operation, well integrated KSs reflect a deeper understanding. It is, however, only the isolated facts that are often evaluated in training environments. To know whether an operator has formed well integrated KSs, KS evaluation methods must be employed....
Show moreThe likelihood of conducting safe operations increases when operators ave effectively integrated their knowledge of the operation into meaningful relationships, referred to as knowledge structures (KSs). Unlike knowing isolated facts about an operation, well integrated KSs reflect a deeper understanding. It is, however, only the isolated facts that are often evaluated in training environments. To know whether an operator has formed well integrated KSs, KS evaluation methods must be employed. Many of these methods, however, require subjective, human-rated evaluations. These ratings are often prone to the negative influence of a raterÂÂÂÂÂÂ's limitations such as rater biases and cognitive limitations; therefore, the extent to which KS evaluations are beneficial is dependent on the degree to which the raterÂÂÂÂÂÂ's limitations can be mitigated. The main objective of this study was to identify factors that will mitigate rater limitations and test their influence on the reliability and validity of KS evaluations. These factors were identified through the delineation of a framework that represents how a raterÂÂÂÂÂÂ's limitations will influence the cognitive processes that occur during the evaluation process. From this framework, one factor (i.e., operation knowledge), and three mitigation techniques (i.e., frame-of-reference training, reducing the complexity of the KSs, and providing referent material) were identified. Ninety-two participants rated the accuracy of eight KSs over a period of two days. Results indicated that reliability was higher after training. Furthermore, several interactions indicated that the benefits of domain knowledge, referent material, and reduced complexity existed within subsets of the participants. For example, reduced complexity only increased reliability among evaluators with less knowledge of the operation. Also, referent material increased reliability only for those who scored less complex KSs. Both the practical and theoretical implications of these results are provided.
Show less - Date Issued
- 2010
- Identifier
- CFE0002973, ucf:47950
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0002973
- Title
- AUTONOMOUS ROBOTIC GRASPING IN UNSTRUCTURED ENVIRONMENTS.
- Creator
-
Jabalameli, Amirhossein, Behal, Aman, Haralambous, Michael, Pourmohammadi Fallah, Yaser, Boloni, Ladislau, Xu, Yunjun, University of Central Florida
- Abstract / Description
-
A crucial problem in robotics is interacting with known or novel objects in unstructured environments. While the convergence of a multitude of research advances is required to address this problem, our goal is to describe a framework that employs the robot's visual perception to identify and execute an appropriate grasp to pick and place novel objects. Analytical approaches explore for solutions through kinematic and dynamic formulations. On the other hand, data-driven methods retrieve grasps...
Show moreA crucial problem in robotics is interacting with known or novel objects in unstructured environments. While the convergence of a multitude of research advances is required to address this problem, our goal is to describe a framework that employs the robot's visual perception to identify and execute an appropriate grasp to pick and place novel objects. Analytical approaches explore for solutions through kinematic and dynamic formulations. On the other hand, data-driven methods retrieve grasps according to their prior knowledge of either the target object, human experience, or through information obtained from acquired data. In this dissertation, we propose a framework based on the supporting principle that potential contacting regions for a stable grasp can be foundby searching for (i) sharp discontinuities and (ii) regions of locally maximal principal curvature in the depth map. In addition to suggestions from empirical evidence, we discuss this principle by applying the concept of force-closure and wrench convexes. The key point is that no prior knowledge of objects is utilized in the grasp planning process; however, the obtained results show thatthe approach is capable to deal successfully with objects of different shapes and sizes. We believe that the proposed work is novel because the description of the visible portion of objects by theaforementioned edges appearing in the depth map facilitates the process of grasp set-point extraction in the same way as image processing methods with the focus on small-size 2D image areas rather than clustering and analyzing huge sets of 3D point-cloud coordinates. In fact, this approach dismisses reconstruction of objects. These features result in low computational costs and make it possible to run the proposed algorithm in real-time. Finally, the performance of the approach is successfully validated by applying it to the scenes with both single and multiple objects, in both simulation and real-world experiment setups.
Show less - Date Issued
- 2019
- Identifier
- CFE0007892, ucf:52757
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007892
