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Hydro-Québec operates 63 hydroelectric power plants and owns 668 dams, as well as 98 control structures. In order to ensure their safety and proper operation, Hydro-Québec's Research Institute (IREQ) develops robotic technologies that can perform diagnosis and intervention tasks underwater. Over the last 20 years, several generations of underwater Remotely Operated Vehicles (ROVs) have been developed...
Live migration is an advanced virtualization capability supported by several Virtual Machine Manager (VMM) solutions that allows a running virtual machine (VM) to be moved from one physical server to another without interruption. In the past, it was a premium feature largely restricted to enterprise datacentres due the need for Storage Area Networks (SANs), but advances in technology and increased...
Since the introduction of the animatronic Shader Lamps Avatar in 2009, several aspects of the system's design have been improved to create a more effective telepresence experience. This includes an analysis of the tradeoffs between front and rear projection and between rigidly aligning the projector with the display surface or needing to track it. A new control mode is implemented for the pan-tilt...
Teleoperation is an important strategy for controlling outdoor mobile robots. It determines the reliability and the fields of the mobile robots. This paper introduced a type of teleoperation system for multiple mobile robots. Improved image radio system ensured the image transmission channels of coherent image clarity. Improved new data transmission system ensured that the data transmission is stable...
Summarized the vision structure frame of the YSU soccer robot system and detailedly introduced the key technique of the visual system. Through geometric correction, it settled the problem of image deformation existing in imaging system itself. In order to improve image processing speed and precision, proposed the HSV color space model to process image, after analyzing the RGB color space model advantage...
The authors have been developing an outdoor mobile robot intended to provide increased traveling distance by autonomously negotiating and crossing a road crossing intersection while traveling along pedestrian sidewalks in an urban environment. In this paper, high precision navigation towards a pedestrian push-button box by a mobile robot for the autonomous activation of the button is presented. We...
This paper describes a pedestrian detection method using a LRF and a small omni-view camera. In outdoor environment, the resolutions of LRFs are too low to recognize human reliably, and high resolution image requires high calculation cost for detecting walking persons. We propose a combination approach using these data. Particle filter based tracking and HOG (Histogram of Oriented Gradients) feature...
The objective of this paper is to develop a localization system for cooperative multiple mobile robots, in which each robot is assumed to observe a set of known landmarks and equipped with an omnidirectional camera. If only a limited number of landmarks are available, it suffers from law accuracy. In this paper, it is assumed that a robot can detect other robots by using the omnidirectional camera...
The scene map building is the key of robot navigation. This paper proposes the principle of projection of virtual height line (PVHL) and its application in the scene map building. At first partition the scene scope uniformly into grids. Then introduce virtual height lines (VHLs) which do not exist in the scene. Each VHL is projected into left image and right image, and two projection lines are generated...
Face of a robot capable of facial expression has a complex structure inside consisting of many actuators, sensors, and other parts. Specially, eyes and its neighbor elements such as upper/lower eyelids, cameras and eyelids, are very densely arranged. In this paper, a compact eyeball module is suggested which is driven with Teflon tube enveloped metal wires, so that one directional motion can be made...
The field of object searching and recognition systems is an increasingly popular area of focus for industry and research labs alike. Object searching mechanism is a challenging task. The proposed system makes use of computer vision techniques. Real time object search poses many difficulties in recognizing objects. These difficulties can be overcome by Triangular Matrix Search Algorithm and Real Time...
This paper uses Bumblebee stereo vision system to reconstruct the 3D terrain for patrol robot. Firstly, with the selected points in the disparity image, the ground plane equation of the current frame is calculated by the RANSAC (Random Sample Consensus) algorithm, and then estimated and predicted by the Kalman filter. Secondly, the elevation image is obtained through the distance between the obstacle...
Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented...
We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.
Underwater robots have had a significant contribution in the inspection, maintenance and repair of underwater structures related to the power and oil industry. Underwater robots have a big potential application in Mexico due to, the two federal Mexican companies related with the power and oil are in constant expansion. CIDESI is working in two projects (Shadow water ROV and Deep water ROV) related...
Power line inspection is an essential job for the maintenance of electric grids. However, the job is not easy due to wide range of grid distribution. Besides manually inspecting power lines, which is still the main method, helicopters are also used for the inspection from the sky. In the recent years, unmanned flying systems were used for power line inspection in order to reduce the risk. In recent...
We present the Viewpoint Feature Histogram (VFH), a descriptor for 3D point cloud data that encodes geometry and viewpoint. We demonstrate experimentally on a set of 60 objects captured with stereo cameras that VFH can be used as a distinctive signature, allowing simultaneous recognition of the object and its pose. The pose is accurate enough for robot manipulation, and the computational cost is low...
For successful deployment, personal robots must adapt to ever-changing indoor environments. While dealing with novel objects is a largely unsolved challenge in AI, it is easy for people. In this paper we present a framework for robot supervision through Amazon Mechanical Turk. Unlike traditional models of teleoperation, people provide semantic information about the world and subjective judgements...
Robust and reliable obstacle detection is an important capability for mobile robots. In our previous works we have presented an approach for visual obstacle detection based on feature based monocular scene-reconstruction. Most existing feature-based approaches for visual SLAM and scene reconstruction select their features uniformly over the whole image based on visual saliency only. In this paper...
We investigate the existence of computationally inexpensive first and second order statistics that uniquely describe grass for application in an autonomous lawnmower. We then segment images based on these statistics to determine locations of driveable terrain in an image. Tight statistical clustering of illuminated grass versus artificial texture suggests that this method is sufficient for identifying...
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