Face Recognition: Issues, Methods and Alternative Applications | InTechOpen, Published on: 2016-07-06. Authors: Waldemar Wójcik, Konrad Gromaszek and Muhtar Junisbekov

The paper proposes an approach to assessing the allowed signal-to-noise ratio (SNR) for light detection and ranging (LiDAR) of unmanned autonomous vehicles based on the predetermined probability of false alarms under various intentional and unintentional influencing factors. The focus of this study is on the relevant issue of the safe use of LiDAR data and measurement systems within the “smart city” infrastructure. The research team analyzed and systematized various external impacts on the LiDAR systems, as well as the state-of-the-art approaches to improving their security and resilience. It has been established that the current works on the analysis of external influences on the LiDARs and methods for their mitigation focus mainly on physical (hardware) approaches (proposing most often other types of modulation and optical signal frequencies), and less often software approaches, through the use of additional anomaly detection techniques and data integrity verification systems, as well as improving the efficiency of data filtering in the cloud point. In addition, the sources analyzed in this paper do not offer methodological support for the design of the LiDAR in the very early stages of their creation, taking into account a priori assessment of the allowed SNR threshold and probability of detecting a reflected pulse and the requirements to minimize the probability of “missing” an object when scanning with no a priori assessments of the detection probability characteristics of the LiDAR. The authors propose a synthetic approach as a mathematical tool for designing a resilient LiDAR system. The approach is based on the physics of infrared radiation, the Bayesian theory, and the Neyman–Pearson criterion. It features the use of a predetermined threshold for false alarms, the probability of interference in the analytics, and the characteristics of the LiDAR’s receivers. The result is the analytical solution to the problem of calculating the allowed SNR while stabilizing the level of “false alarms” in terms of background noise caused by a given type of interference. The work presents modelling results for the “false alarm” probability values depending on the selected optimality criterion. The efficiency of the proposed approach has been proven by the simulation results of the received optical power of the LiDAR’s signal based on the calculated SNR threshold and noise values.

This paper presents the implementation, trajectory planning, kinematics, and experimental validation of an open-source 3D-printed delta robot manipulator. The robot’s hardware consists of three servo motors, an Arduino Uno microcontroller, and a Pulse Width Modulation (PWM) servo module. The software includes a trapezoidal velocity profile planner and an inverse and forward kinematics solver to calculate the motor angles required to achieve a desired end-effector position in task space. The 3D printed parts were obtained from an open-source Thingiverse project and assembled to form the robot’s kinematic structure. The robot’s performance was evaluated in terms of its accuracy, repeatability, and maximum speed for a pick-and-place task. Experimental results show that the robot can achieve a positioning accuracy of 2.2 mm, with a top speed of 0.4 m/s, 30 picks per minute, and load carrying capacity up to 200 g. These results are satisfactory, considering the ease of assembly and the cost-effectiveness of the robot. The comparison of the calculated motor angles with actual motor angles obtained through additional potentiometer wires soldering shows promising results. The proposed robot’s cost-effective characteristics, utilization of open-source additive manufacturing, and motion planning algorithms make it suitable for various applications, including education, research, and small-scale industrial applications.

A mobile robot has been developed to monitor the state of the atmosphere and phyto-condition in protected ground facilities to form control strategies that maximize production profits. The free and open ROS (Robot Operating System) software shell was used as a basis for building a mobile robot information system. The paper considers a non-contact method of assessing the condition of plants (formation of the number of flowers in the inflorescence, the number of fruits per branch, average weight and ripeness of the fruit, fruit weight gain) using wavelet analysis, during which each image obtained with a video camera located on a mobile robot, decomposes into wave functions. The training on the accumulation of experience of trial and error of the route by the robot was conducted and it was determined that with the accumulation of experience the number of unsuccessful attempts and time of the route decreases, while the number of received incentives increases.

Coal remains one of the key raw materials used in the energy industry to generate electricity and heat. As a result, diagnostics of the combustion process is still an important topic of scientific research. Correct implementation of the process allows the emission of pollutants into the atmosphere to be kept at a compliant level. Therefore, it is important to conduct the process in a manner that will not exceed these standards. A preliminary analysis of the measurement signals was carried out, and signal predictions of flame intensity changes were determined using the autoregressive moving average (ARMA) model. Different fuzzy neural network architectures have been investigated. Binary and multi-class classifications of flame states were conducted. The best results were obtained from the ANFIS_grid partition model, producing an accuracy of 95.46% for binary classification and 79.08% for multi-class classification. The accuracy of the recognition of flame states and the high convergence of the determined predictions with measurement signals validate the application of the proposed approach in diagnosing or controlling the combustion process of pulverized coal and its mixtures with biomass. Expert decisions determine the range of acceptable states.

The work is devoted to the modern method of diagnosing skin diseases - video dermoscopy in the ultraviolet spectrum. The main features of the method are considered. The features of image processing and analysis for HC-video dermatoscopy are proposed for consideration. The main stages of processing HC-video dermoscopic images are considered. The main emphasis is placed on the methods of automated segmentation of HC-videodermoscopic images and the analysis of the errors that arise in this case. The stages of preliminary and post-processing of UVvideodermoscopic images are examined in detail. The main aspects of the automated analysis of dermoscopic image processing and the prospects of using such systems in medical practice are considered.